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6/3/2015 

U.S. Department of Transportation 

Docket Management System 

1200 New Jersey Ave., SE 

Washington, DC 20590 

Re: Exemption Request Section 333 of the FAA Modernization and Reform Act and Part 11 

of the Federal Aviation Regulations from 14 CFR Part 21, Subpart H; 14 CFR 45.23 (b); 

14 CFR 61.23 (a) & (c); 61.101 (e) (4) & (5); 61.113 (a) & (b); 61.315 (a) & (c); 91.7 {a); 

91.119 {c) & (d); 91.121; 91.151 (a) (1); 91.405 {a); 91.407{a) (1); 91.409 {a) {1) & (2); 

91.417 {a) & (b) 

Dear Sir or Madam: 

Pursuant to Section 333 of the FAA Modernization and Reform Act of 2012 (the Reform Act) 

and 14 C.F.R. Part 11, American Safety Training and Resources, Inc. (AS TAR), the operator of 

small unmanned aircraft systems {sUAS) equipped to conduct aerial photography and pipeline 

surveys, hereby applies for an exemption from the listed Federal Aviation Regulations {FAR) to 

allow commercial operation of its sUASs, so long as such operations are conducted within and 

under the conditions outlined herein or as may be established by the FAA as required by 

Section 333. 

As described more fully below, the requested exemption would permit the operation of 

sUASs in low altitude airspace and provide safety enhancements to the already safe operations 

of the pipeline survey industry presently using conventional aircraft. Approval of this exemption 

would thereby enhance safety and fulfill the Secretary of Transportation's (the FAA 

Administrator's) responsibilities to " ... establish requirements for the safe operation of such 

aircraft systems in the national airspace system." 

The name and address of the applicant: 

ASTAR 

Attn: Lance Childress 

Ph: 405-604-9494 

Email: lance@astarsafety.com 

Address: 115 East California Ave, Suite 313, Oklahoma City, OK 73104 

Enclosures: 

DJI AVL58 5.8G Video Link User Manual 

DJI Ground Station Wireless Data-link User Manual 

DJI Naza - M (V2) Quick Start Guide 
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Prioria Hex Data Sheet 

Regulations from which the exemption is requested: 

14 CFR Part 21 Subpart H, Airworthiness Certificates 

14 CFR 45.23 (b), Aircraft Marking, Certification and Registration 

14 CFR 61.23 (a) & (c), Medical Certificates 

14 CFR 61. 1 01 (e) ( 4) & ( 5), Recreational Pilot Privileges 

14 CFR 61.113 (a) & (b), Private Pilot Privileges 

14 CFR 61.315 (a) & (c), Sport Pilot Privileges 

14 CFR 91.7 (a), Civil aircraft airworthiness 

14 CFR 91.119 (c) & (d), Minimum safe altitude 

14 CFR 91.121, Altimeter setting 

14 CFR 91.151 (a) (1), Fuel requirements for VFR flight 

14 CFR 91.405 (a), Maintenance and maintenance inspections 

14 CFR 91.407 (a) (1), Operation after Maintenance, preventive maintenance, rebuilding 

and inspections 

14 CFR 409 (a) (1) & (2), Inspections 

14 CFR 417 (a) & (b), Maintenance records 

This exemption application is expressly submitted to fulfill Congress' goal in passing Section 

333 (a) through (c) of the Reform Act. This law directs the Secretary of Transportation to 

consider whether certain unmanned aircraft systems may operate safely in the national airspace 

system (NAS) before completion of the rulemaking required under Section 332 of the Reform 

Act. In making this determination, the Secretary is required to determine which types of UASs 

do not create a hazard to users of the NAS or to the public, or pose a threat to national security 

in light of the following: 

• The UAS's size, weight, speed, and operational capability 

• Operation of the UAS in close proximity to airports and populated areas 

• Operation of the UAS within visual line of sight of the operator 

Lastly, if the Secretary determines that such vehicles may operate safely in the national 

airspace system, the Secretary shall establish requirements for the safe operation of such 

aircraft in the national airspace system. 

The Federal Aviation Act expressly grants the FAA the authority to issue exemptions. This 

statutory authority, by its terms, includes exempting civil aircraft, as the term is defined under 

§401 01 of the Act, that includes sUASs from the requirement that all civil aircraft must have a 

current airworthiness certificate. 
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The Administrator may grant an exemption from a requirement of a regulation prescribed 

under subsection (a) or (b) of this section or any sections 44702-44716 of this title if the 

Administrator finds the exemption is in the public's interest. 

ASTAR's sUASs are rotorcraft, weighting 55 or fewer pounds including its payload. They 

operate, under normal conditions, at a speed of no more than 50 knots and have the capability 

to hover and move in the vertical and horizontal plane simultaneously. They will operate only in 

line of sight of the pilot in command (PIC) and will utilize a safety observer. Such operations will 

insure that the sUAS will "not create a hazard to users of the national airspace system or to the 

public." 

Given the small size of the sUASs involved, the applicant falls squarely within that zone of 

safety (an equivalent level of safety) in which Congress envisioned that the FAA must, by 

exemption, allow commercial operations of UASs to commence immediately. Also due to the 

size of the UASs, approval of the application presents no national security issue. Given the clear 

direction in Section 333 of the Reform Act, the authority contained in the Federal Aviation Act, 

as amended, the strong equivalent level of safety surrounding the proposed operations, the 

significant public benefits, enhanced safety, reduced environmental impacts, including reduced 

emissions, that are associated with allowing UASs for aerial imagery collections, the grant of the 

requested exemptions is in the public interest. Accordingly, the applicant respectfully requests 

that the FAA grant the requested exemption without delay. 

Aircraft and Equivalent Level of Safety 

The applicant proposes that the exemption requested herein apply to civil aircraft that have 

the characteristics and that operate with the limitations listed herein. These limitations provide 

for at least an equivalent or even higher level of safety to operations under the current 

regulatory structure because the proposed operations represent a safety enhancement to the 

already safe pipeline inspection and survey operations conducted with conventional aircraft and 

helicopters. 

• Limitations and Conditions. These limitations and conditions to which ASTAR 

agrees to be bound when conducting pipeline survey operations under an FAAissued exemption include: 

o Each sUAS will weigh less than 55 pounds. 

o Flights will be operated within line of sight of a pilot and/or observer. 

o Maximum total flight time for each operational flight will not exceed 30 minutes. 

Flights will be terminated at 25% battery power reserve should that occur prior to 

the 30-minute limit. 

o Documents used by the operator to ensure the safe operation and flight of the 

sUAS and any documents required under 14 CFR §§ 91.9 and 91.203 will be 

available to the PIC at the ground control station of the sUAS any time the 

aircraft is operating. These documents will be made available to the FAA 

Administrator or any law enforcement official upon request. 

o Flights will be operated at an altitude of no more than 400 feet above ground 

level (AGL). 
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o Minimum crew for each operation will consist of the sUAS pilot and the visual 

observer. 

o The sUAS pilot will be an F AA-Iicensed airman with a current valid medical 

certificate required for his or her rating. 

o The sUAS pilot will be the PIC. 

o A briefing will be conducted in regard to the planned sUAS operations prior to 

each flight. It will be mandatory that all personnel who will be performing duties 

related to the flight be present for this briefing. 

o Pilot and observer will have been trained in the operation of the sUAS and will 

maintain currency in its operation. 

o Observer and pilot will be able to communicate by voice at all times. 

o All required permissions and permits will be obtained from territorial, state, 

county, or city jurisdictions, including local law enforcement, fire, or other 

appropriate governmental agencies. 

o If the sUAS loses communications or loses its global positioning system (GPS) 

signal, the UAS will have the capability to return to a pre-determined location and 

land. 

o The sUAS will have the capability to abort a flight in case of unpredicted 

obstacles or emergencies. 

o The radio frequency spectrum used for operation and control of the sUAS shall 

comply with the Federal Communications Commission (FCC) or other 

appropriate government oversight agency requirements. 

o The sUAS shall be equipped with inertial navigation sensor(s) and gyroscopes. 

o The sUAS shall be equipped with a compass (magnetometer/heading source). 

o The sUAS shall be equipped with a GPS guidance system. 

Aircraft Model: Prioria Robotics Hex multi-rotor 

Hex 

Weight (Battery Included) 6 kg 141b 

Range 2km 

Max Speed 23 kts 26mph 

Max Flight Time 15 min 

Operating Temperature Range -10 o to 40 oc 

Wheelbase 800mm 31 inches 
• Safety. Prioria's Hex sUAS multirotor aircraft have fail-safe features to include geo 

fencing and lost-link-return-home capability. Prioria is a manufacturer of multirotor 

aircraft weighing less than 25 pounds and has developed technology that enhances 

safe sUAS operations within the NAS. 

• Maintenance. 

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1 o The sUAS shall be maintained in accordance with the manufacturer's 

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recommendations. 

o ASTAR will document and maintain a record of the sUAS's maintenance, 

preventative maintenance, alterations, status of all replacement and overhauled 

component parts, and total time in service. These records will be maintained with 

the sUAS for the life of the aircraft or as required by FAA regulations. 

o ASTAR shall comply with all manufacturer safety and service bulletins or 

equivalent documents pertaining to the sUAS aircraft. 

o The PIC shall perform a preflight inspection of the sUAS, controller, and ground 

control station prior to each flight to ensure it is operational with no 

discrepancies. The sUAS will only be operated when all systems are operating 

per manufacturer's specifications and in a discrepancy-free condition. 

o Maintenance or repairs that may affect the sUAS operation or flight 

characteristics shall undergo a functional test flight when required in accordance 

with manufacturer's recommendations. This functional test flight shall be 

recorded in the sUAS's records. When the functional test flight is completed 

successfully, the sUAS can be returned to service by the PIC. 

o ASTAR shall follow the manufacturer's sUAS maintenance, overhaul, 

replacement, inspection, and life-limit requirements. 

o All sUAS are identified by the serial number, registered in accordance with 14 

CFR Part 47, and have identification (N-number) markings in accordance with 14 

CFR Part 45 Subpart C, except with respect to the size of the markings. 

Markings shall be as large as practicable. 

14 C.F.R. Part 21, Subpart H: Airworthiness Certificates 

Subpart H, entitled Airworthiness Certificates, establishes the procedural requirements for 

the issuance of airworthiness certificates as required by FAR §91.203 (a} (1}. Given the size 

and operating altitudes associated with the aircraft to be utilized by the Applicant, an exemption 

from Part 21 Subpart H meets the requirements of an equivalent level of safety under Part 11 

and Section 333 of the Reform Act. Both the Federal Aviation Act (49 U.S.C.§44701 (f)) and 

Section 333 of the Reform Act authorize the FAA to exempt aircraft from the requirement for an 

airworthiness certificate, upon consideration of the size, weight, speed, operational capability, 

and proximity to airports and populated areas of the particular UAS. In all cases, an analysis of 

these criteria demonstrates that an sUAS that is operated without an airworthiness certificate 

under the conditions proposed, will be at least as safe, or safer, than a conventional aircraft 

(fixed wing or rotorcraft} operating with an airworthiness certificate without the restrictions and 

conditions proposed. 
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The sUAS to be operated hereunder is less than 55 pounds fully loaded, carries neither a 

pilot nor passenger, and carries no explosive materials or flammable liquid fuels. Unlike other 

civil aircraft, operations under this exemption will be tightly controlled and monitored by both the 

operator and observer, under the requirements and in compliance with local public safety 

requirements, to provide security for the area of operation as is now done with conventional 

pipeline survey. These safety enhancements, which already apply to civil aircraft operated in 

connection with pipeline survey gathering operations, provide a greater degree of safety to the 

public and property owners than conventional operations conducted with airworthiness 

certificates issued under 14 CFR Part 21 Subpart H. Lastly, application of these same criteria 

demonstrates that there is no credible threat to national security posed by the sUAS, due to its 

size, speed of operation, location of operation, lack of explosive materials or flammable liquid 

fuels, and inability to carry a substantial external load. 

14 C.F.R. § 45.23 (b). Marking of the Aircraft 

The regulation requires that each UAS type be clearly marked. When aircraft markings on 

limited, restricted, or light-sport category aircraft or on experimental or provisionally-certificated 

aircraft are limited to the Roman capital letter N and the registration number, the operator must 

also display on that aircraft, near each entrance to the cabin, cockpit, or pilot station, in letters 

not less than 2 inches nor more than 6 inches high, the words Limited, Restricted, Light-Sport, 

Experimental, or provisional, as applicable. 

Even though the sUAS will have no airworthiness certificate, an exemption may be needed 

as the sUAS will have no entrance to the cabin, cockpit or pilot station on which the word 

experimental can be placed. Given the size of the sUAS, two-inch lettering will be impossible. 

Instead, the word Experimental will be placed on the fuselage in compliance with 45.29 (f). 

All aircraft operated in accordance with this exemption will be identified by serial number, be 

registered in accordance with 14 CFR Part 4 7, and have identification (N-number) markings in 

accordance with 14 CFR Part 45, Subpart C. Markings will be as large as practicable. 

14 C.F.R. § 61.23 (a) & (c): Medical Certificates: Requirements and Duration 

Sections 61.23 (a) & (c) describe the requirements for medical certificates for commercial 

operations and the requirements for when a driver's license may be used in substitute for a 

medical certificate. Because the sUAS will not carry a pilot or passengers, the proposed 

operations can achieve the equivalent level of safety of current operations by requiring the PIC, 

that is operating the sUAS, to have a pilot certificate, inclusive of airline transport, commercial, 

private, recreational, or sport pilot. Because of this broad range of certificates, an exemption is 

needed for 61.23 to allow the PIC to operate a commercial sUAS with only a valid driver's 

license. Unlike a conventional aircraft that carries the pilot and passengers, the sUAS is 

remotely controlled with no living thing on board. The risks associated with the operation of the 

sUAS are so diminished from the level of risk associated with commercial operations 

contemplated by Part 61 when drafted, that allowing operations of the sUAS as requested 

exceeds the present level of safety achieved.14 C.F.R. § 61.101 (e) (4) & (5): Recreational Pilot 

Privileges and Limitations 

Sections 61.101 (e) (4) & (5) limit recreational pilots to non-commercial operations. 

Because the sUAS will not carry a pilot or passengers, the proposed operations can achieve the 
equivalent level of safety of current operations by requiring the PIC operating the sUAS to have 

a recreational (sport) pilot's license rather than a commercial pilot's license to operate this small 

sUAS. Unlike a conventional aircraft that carries the pilot and passengers, the sUAS is remotely 

controlled with no living thing on board. The risks associated with the operation of the sUAS are 

so diminished from the level of risk associated with commercial operations contemplated by Part 

61 when drafted, that allowing operations of the sUAS as requested exceeds the present level 

of safety. 

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Sections 61.113 (a) & (b) limit private pilots to non-commercial operations. Because the 

sUAS will not carry a pilot or passengers, the proposed operations can achieve the equivalent 

level of safety of current operations by requiring the PIC operating the aircraft to have at least a 

private pilot's license rather than a commercial pilot's license to operate this small sUAS. Unlike 

a conventional aircraft that carries the pilot and passengers, the sUAS is remotely controlled 

with no living thing on board. The risks associated with the operation of the sUAS are so 

diminished from the level of risk associated with commercial operations contemplated by Part 

61 when drafted, that allowing operations of the sUAS as requested exceeds the present level 

of safety. 

14 C.F.R. § 61.315 (a) & (c): Sport Pilot Privileges and limitations 

Sections 61.315 (a) & (c) limit sport pilots to non-commercial operations. Because the sUAS 

will not carry a pilot or passengers, the proposed operations can achieve the equivalent level of 

safety of current operations by requiring the PIC operating the aircraft to have at least a sport 

pilot's license rather than a commercial pilot's license to operate this small sUAS. Unlike a 

conventional aircraft that carries the pilot and passengers, the sUAS is remotely controlled with 

no living thing on board. The risks associated with the operation of the sUAS are so diminished 

from the level of risk associated with commercial operations contemplated by Part 61 when 

drafted, that allowing operations of the sUAS as requested with a sport pilot as the PIC exceeds 

the present level of safety. 

14 C.F.R. §91.7 (a): Civil Aircraft Airworthiness 

The regulation requires that no person may operate a civil aircraft unless it is in airworthy 

condition. As there will be no airworthiness certificate issued for the aircraft, should this 

exemption be granted, no FAA regulatory standard will exist for determining airworthiness. 

Given the size of the aircraft, the requirements contained in the manufacturer's manual for 

maintenance, and the use of safety checklists provided by the original equipment manufacturer 

(OEM) during operator training prior to each flight, an equivalent level of safety will be provided. 

14 C.F.R. §91.119 (c) & (d): Minimum Safe Altitudes 

Section 91.119 establishes safe altitudes for operation of civil aircraft. Section 91.119 (d) 

allows helicopters to be operated at less than the minimums prescribed, provided the person 

operating the helicopter complies with any route or altitudes prescribed for helicopters by the 

FAA. As this exemption is for a sUAS that is a helicopter and the exemption requests authority 
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to operate at altitudes up to 400 feet AGL, an exemption may be needed to allow such 

operations. As set forth herein, the UAS will never operate at higher than 400 feet AGL. 

The equivalent level of safety will be achieved given the size, weight, and speed of the 

sUAS. No flight will be taken without the permission of local officials. Compared to flight 

operations with aircraft or rotorcraft weighting far more than the maximum pounds proposed 

herein and the lack of flammable fuel, any risk associated with these operations is far less than 

those presently existing with conventional aircraft. In addition, the low-altitude operations of the 

sUAS will ensure separation between these sUAS operations and the conventional aircraft 

operations that must comply with Section 91.119. 

14 C.F.R. §91.121 Altimeter Settings 

This regulation requires each person operating an aircraft to maintain cruising altitude by 

reference to an altimeter that is set " ... to the elevation of the departure airport or an appropriate 

altimeter setting available before departure." As the sUAS may not have a barometric altimeter, 

but instead a GPS altitude read out, an exemption may be needed. An equivalent level of 

safety will be achieved by the operator, pursuant to the OEM checklist, confirming the altitude of 

the launch site shown on the GPS altitude indicator before flight. 

14 C.F.R. § 91.151 (a) (1): Fuel Requirements for Flight in VFR Conditions 

Section 91.151 (a) (1) prohibits an individual from beginning "a flight in an airplane under 

VFR (visual flight rules) conditions unless {considering wind and forecast weather conditions) 

there is enough fuel to fly to the first point of intended landing, and, assuming normal cruising 

speed - ( 1) During the day, to fly after that for at least 30 minutes." 

The battery powering the sUAS provides approximately 30 minutes of powered flight. To 

meet the 30 minute reserve requirement in 14 CFR §91.151, sUAS flights would be impossible. 

Given the limitations on the sUAS's proposed flight area and the location of its proposed 

operations, a longer time frame for flight in daylight VFR conditions is reasonable. 

Applicant believes that an exemption from 14 CFR §91.151 (a) falls within the scope of prior 

exemptions. Operating the small sUAS does not engender the type of risks that Section 

91.151 (a) was intended to alleviate, given the size and speed of the sUAS. 

Applicant believes that an equivalent level of safety can be achieved by limiting flights to 30 

minutes or 25% of battery power, whichever happens first. This restriction would be more than 

adequate to return the sUAS to its planned landing zone from anywhere in its operating area. 

14 C.F.R. §91.405 (a); 407 (a) (1); 409 (a) (1) & (2); 417(a) & (b): Maintenance Inspections 

These regulations require that an aircraft operator or owner "shall have that aircraft 

inspected as prescribed in subpart E of this part and shall, between required inspections, except 

as provided in paragraph (c) of this section, have discrepancies repaired as prescribed in Part 

43 of this chapter ... ," and others shall inspect or maintain the aircraft in compliance with Part 43. 
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Given that this section and Part 43 apply only to aircraft with an airworthiness certificate, 

these sections will not apply to the applicant. Maintenance will be accomplished by the operator 

pursuant to the manufacturer's manual and operating handbook. An equivalent level of safety 

will be achieved because these sUASs are very limited in size, will carry a small payload, and 

will operate only for limited periods of time. If mechanical issues arise, the sUAS will be 

operating from no higher than 400 feet AGL and can land immediately. As provided in the 

checklist supplied by the OEM during training, the operator will ensure that the UAS is in 

working order prior to initiating flight, perform all required maintenance, and keep a log of any 

maintenance performed. Moreover, the operator is the person most familiar with the aircraft and 

best suited to maintain the aircraft in an airworthy condition to provide the equivalent level of 

safety. 

Publication in Federal Register 

Pursuant to 14 C.F.R. Part 11, the following summary is provided for publication in the 

Federal Register, should it be determined that publication is needed: 

Applicant seeks an exemption from the following rules: 14 CFR Part 21, Subpart H; 14 

CFR 45.23 (b); 14 CFR 61.23 (a) & (c); 61.101 (e) (4) & (5); 61.113 (a} & (b); 61.315 (a) 

& (c); 91.7 (a); 91.119 (c); 91.121; 91.151 (a)(1); 91.405 (a); 91.407(a) (1); 91.409 (a)(1) 

& (2); 91.417 (a) & (b) to operate a small unmanned vehicle (55 pounds or less) in 

pipeline survey and inspection operations. 
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Disclaimer 

Thank you for purchasing this product. Please read the instructions carefully before installing the 

hardware and software for this product, this will ensure trouble free operation of your Video Link RX and 

TX. Please use this product in accordance with the provisions of your local authorities and regulations. 

Contents 

Disclaimer .............................................................................................................................................. 2 

Contents ................................................................................................................................................ 2 

Introduction ............................................................................................................................................ 2 

Contents ................................................................................................................................................ 3 

Installation ............................................................................................................................................. 4 

Specification .......................................................................................................................................... 5 

Trouble Shooting .................................................................................................................................... 6 

Introduction 

The AVL58 includes both Video Link Transmitter (TX) and Video Link Receiver (RX), working in the ISM 

frequency band of 5.8GHz (5645- 5945MHz MHz). Analogue modulated video signals are sent wirelessly 

by the TX module to the RX module, and then the video signal will be demodulated and sent to a display. 

There are 8 wireless channels can be selected when you are using AVL58. These channels are: 

CH1-5705MHZ, CH2-5685MHZ, CH3-5665MHZ, CH4-5645MHZ, CH5-5885MHZ, CH6-5905MHZ, 

CH7-5925MHZ, and CH8-5945MHZ. 

The characteristics of the AVL58 are: small size, low power consumption and high sensitivity. The AVL58 

can be used in many applications requiring wireless video communication. When it's used in the 

aero-modeling hobby, the Video Link Transmitter will be mounted to the aircraft and the Video Link 

Receiver is connected to a display screen, allowing video signal wireless transmission. 

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Contents 

5. 8GHz Video Link Transmitter (TX) x1 

Analogue modulated video signals will be sent 

wirelessly by the TX module, working in the frequency 

band of 5.8GHz with 8 channels. 

5.8GHz Video Link Receiver (RX) x1 

Connect to a display screen. 

The signal will be demodulated and sent to the display 

by the RX module, working in the frequency band of 

5.8GHz with 8 channels. 

Antenna x2 

Optional, please make purchase according to your need. 

Please refer to the Clover-Leaf Antenna User Manual for 

all antenna details. 

Video Input Cable x1 

Connect the TX to the video input source, with a port 

connecting to the battery for power supply, 

Video Output Cable x1 

Connect the RX module to a display screen, 

transmitting video signal to display on the screen. 

Power Cable x 1 

Connect the battery to the RX module and the display 

screen through the power cable for power supply. 

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Installation 

STEP1. 

STEP2. 

Please assemble two antennas to the Video Link Transmitter and Receiver. 

Connect the Video Link Transmitter to a video input source, and then connect the Video 

Link Receiver to a display screen and battery. 

STEP3. Make sure the Video Link Transmitter and Receiver are working on the same channel by 

TX Knowledge 

• AV-El Video input port is A 8-pin Port. The 

TX transmits both channel control signal 

(CHl, CH2, ... CH8) and video signal. Make 

sure the connection of the port is correct 

• .S'l!mChanei-Selection Button, which is fo 

TX wireless channel selection. 

• fJ LED LED indicates the TX working channel . 

Important: 

RX Knowledge • ~ Battery can apply power for both the RX module 

and the display screen with an input voltage range o 35. 

• AVO> Video Outj:!ut Port transmits video signal, connected to the display screen. 

• 5s:J Chanei-Selection Button, which is for RX wireless 

channel selection. 

• fJ LED LED indicates the RX working channel . 

• The antenna MUST be connected before power on, otherwise electronics damage may occur. 

• ,& When use a battery to supply power for the RX and the display screen, the battery voltage must 

not be higher than the input voltage of the display screen; otherwise damage may occur to your 

display screen. 

• Ensure there is no obstade between antennas; otherwise the communication range will be reduced. 

LED Indicator 

CH 1 

CH3 

CHS 

CH7 

•o• 

•o•• 

•o••• 

•o•••• 

CH2 

CH4 

CH6 

CHS 

eooe 

eooee 

eoo••• 

eoo•••• 

Red LED blinks once after pressing the channel-selection button, indicating successful selection. 

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Specification 

Performance Parameter 

Outdoor/RF Line-of-Sight Range 1.2Km 

Transmit Power 500mW 

Receiver Sensitivity (1%PER) 

Frequency Band 

Physical Parameter 

Operating Temperature 

Size (No Antenna) 

Weight (No Antenna) 

Hardware Supported 

Antenna Options 

Transmitter Supply Voltage 

Receiver Supply Voltage 

Transmitter Current 

Receiver Current 

Software Supported 

Built-in Functions 

-90d8m ± 2dBm 

CH1-CH8 

• 

• 

• 

• 

CH1 : 5705MHZ 

CH2 : 5685MHZ 

CH3 : 5665MHZ 

CH4 : 5645MHZ 

-20-70°C 

• 

• 

• 

• 

CH5 : 5885MHZ 

CH6 : 5905MHZ 

CH7 : 5925MHZ 

CH8 : 5945MHZ 

• TX: 50cm(length)X30cm(width)X22cm(height) 

• RX: 55.5cm(length)X48cm(width)X17cm(height) 

• 

• 

SMA 

TX: 39g 

RX: 49.5g 

3S-6S LiPo 

3S LiPo 

575mA± 50mA(@12V) 

90mA± 10mA(@12V) 

• 5.8GHZ Broadband FM Video Transmit & Receive 

Synchronously 

• Analog Video Output to Display 

• 8 Transmitting and Receiving Channels 

5 
Trouble Shooting 

No. What Why How to 

Power supply is There is problem with the video 

' Please check the video input. 

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OK, but no video input. 

No video 

Video is flashing 

and rolling. 

The RX and TX modules are not 

set to the same channel. 

Make sure RX and TX modules are 

on the same channel by using the 

channel-selection button. 

1. The video mode of the display 1. Reset the video mode of the 

screen sets incorrectly. display screen. 

2. The RX and TX modules are 2. Make sure RX and TX modules 

not set to the same channel. are on the same channel. 

The transmission 1. The antenna assembly is 1. Make sure there is no obstacle 

distance between incorrect. between antennas. 

the RX and TX is 2. The RX and TX modules are 2. Make sure RX and TX modules 

shortening. not set to the same channel. are on the same channel. 

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Ground Station 

Wireless Data-link 

User Manual 

V2.8 

2013.03.07 Revision 

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©2012 DJi Innovations. All Rights Reserved. 

www.dii-innovations.com 

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Disclaimer 

Thank you for purchasing product(s) in DJI Innovations. Please strictly follow these steps to install all the 

software and hardware products, and make sure your Ground Station and Wireless Data-link work perfectly. 

Please use the wireless data-link in accordance with the provisions of the local radio control. DJI Innovations 

assumes no liability for damage(s) or injured incurred directly or indirectly from the use of this product. 

As DJI Innovations has no control over use, setup, final assembly, modification (including use of non-specified 

DJI parts i.e. motors, ESCs, propellers, etc.) or misuse, no liability shall be assumed nor accepted for any 

resulting damage or injury. By the act of use, setup or assembly, the user accepts all resulting liability. DJI 

Innovations assumes no liability for damage(s) or injured incurred directly or indirectly from the use of this 

product. 

Google logo is a registered trademark of Google Inc. DJI is a registered trademark of DJIInnovations. Names 

of products, brands, etc., appearing in this manual are trademarks or registered trademarks of their respective 

owner companies. This product and manual are copyrighted by DJI Innovations with all rights reserved. No 

part of this product or manual shall be reproduced in any form without the prior written consent or authorization 

of DJI Innovations. No patent liability is assumed with respect to the use of the product or information 

contained herein. 

Profile 

Please read this instruction thoroughly for proper operation of your new DJI Ground Station and Wireless 

Data-link. Full featured DJI Ground Station enables 3-D Map Way Points Editing, Flight Path Planning, 

Real-time Flight State Feedback and Auto Takeoff and Landing. This product is specially designed for the 

purpose of aircraft operation, BVR (Beyond Visual Range) flying in applications such as surveillance, aerial 

photography, etc. Working with DJI autopilot system, DJI Ground Station not only ensures stable performance 

and safety of the aircraft, easy operation for the pilot, but also allows the aircraft to fly along the flight path set 

before or modified during the flight mission in the Ground Station software autonomously. This manual covers 

both Single Waypoint and Ground Station products. Read this manual according to your product package. E.g., 

if you have WKM Single Waypoint, then you do not need to read section 4.4. Please refer to DJI autopilot 

manual for semi-auto takeoff and landing. 

©2012 DJIInnovations. All Rights Reservea. -2-
Production ACE WKM 

View i Joystick I Product packages 1 Single Waypoint Ground Station Single Waypoint I 5 Waypoints 

''''''''"''''"'"'"'"'"""""""'""""""'"""'''"'''""""'''"''""-"'"'_'_"'"'"' 

Mode i /Keyboard Mode 1 

.................................................................... ..1 .............................................................................

30 MapDisplay 

....................... [ • I • • • I • 

• I I Real-time Flight Monitoring • • • I • 

I • I I i Flight Simulation • • • • I • 

One Key Takeoff (WKM) • • 

Joystick I Keyboard Mode • • • • • 

One Key Go Home • • • • 

Click Go Mode • • • • 

Waypolnts Editing • • 

200 Waypoints 5Waypoints 

Automatic Takeoff & Landing • • 

F Channel Controller • • 

General Purpose Servo Action • • 

• 

Six Route Templates • No photogrammetry 

Tool 

Photogrammetry Tool _j __ • I 

@2012 DJi Innovations. ,;11 Rights RasHrwd. 
l 

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In Box 

Wireless Data-link Ground End x1 

It connects to your computer. Computer sends commands and 

receives flight data through it. 

Wireless Data-link Air End 900MHz x1 or 2.4GHz x1 

It connects to. DJI autopilot system. Autopilot system sends flight 

data and receives commands from computer by it. 

Ground Station Install CDx1 

It contains Ground Station and all required software installation 

files. 

USBCablex1 

For connection between wireless data-link ground end and computer . 

4-Pin Cable x1 

For connection between wireless data-link air end and autopilot system. 

Warranty Card x1 

ciJl 

• 

It recommends the necessary conditions for using this system and related safety issues. Please fill out the 

customer & information card and return to DJI Innovations to register your product warranty. 

©2012 DJI Innovations. All Rights Reserved. -4-
Contents 

Disclaimer ................................................................................................................................................ - 2 -

Profile ....................................................................................................................................................... - 2-

In Box ....................................................................................................................................................... -4-

l 

' Contents ................................................................................................................................................... - 5 -

Matters Need Attention ............................................................................................................................. - 6 -

Connection ............................................................................................................................................... - 7 -

Ground Station Software .......................................................................................................................... - 8 -

Install Software .................................................................................................................................... - 8 -

Start Software .......................................................................................................................................... - 9 -

Application ............................................................................................................................................... - 9 -

Control Mode Switch ......................................................................................................................... - 10-

GUI ........................................................................................................................................................ -11 -

1 View Mode .......................................................................................................................................... - 14 -

1.1 View Mode Procedures ........................................................................................................... - 14-

1.2 System Setting .............. : ........................................................................................................ - 14-

2 Joystick/Keyboard Mode ................................................................................................................. - 18-

I 2.1 Simulator ................................................................................................................................ - 18 - - _J 

2.2 One Key Takeoff .................................................................................................................... -19-

- " 2.3 Joystick and Keyboard Mode .................................................................................................. - 20 -

3 Click Go Mode ................................................................................................................................ - 22 -

4 Waypoint(Single Waypoint User Skip This) ..................................................................................... - 24-

4.1 Waypoint Mode ...................................................................................................................... - 24 -

(I) Flight Mission Setting ............................................................................................................... - 27 -

(II) Upload Flight Mission .............................................................................................................. - 31-

(Ill) Take off Aircraft ...................................................................................................................... - 31 -

(IV) Switch to Autopilot Mode ....................................................................................................... - 31 -

(V) GO!! ....................................................................................................................................... - 32 -

4.2 Auto Takeoff and Landing ....................................................................................................... - 33 -

4.3 F Channel Controller .............................................................................................................. - 34-

4.4 General Purpose Servo Action (GP-Servo Action) .................................................................. - 35-

4.5 Six Pre-Programmed Route Templates ................................................................................... - 37-

4.6 Photogrammetry Tool ............................................................................................................. - 38 -

Appendix ................................................................................................................................................ - 40 -

List of Ground Station Shortcut Keys ................................................................................................. - 40 -

Troubleshooting ................................................................................................................................ - 41 -

Data-link LED Introduction ................................................................................................................. - 44 -

Wireless Data-link Specification ......................................................................................................... - 45 -

©2012 OJI Innovations. !\II Riahts Reserved. -5-
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Matters Need Attention 

1. The ability of penetrating of radio signal from 2.4GHz wireless data-link is weak; 

please make sure the antenna of it is alwavs visible to the oround end durino the flioht. 

Human body, trees, buildings or hills will stop the communication between air end and 

oround end. 

2. You'd better put the ground end at high place. This can guarantee a good 

communication ranoe. 

3. Make sure the antenna head of air end is erect down, and the antenna head of ground 

end is erect UP. Make sure there is no obstacle between antennas: otherwise the 

communication range will be reduced. 

4. Ground end Link-Alarm red lioht on is distance alarm. red lioht off is safe. When it is on. 

you'd better return your aircraft. 

5. When oround end Link-Alarm oreen lioht is off. this indicates the communication 

between ground end and air end is off, whatever the state of red light. 

6. Make sure the driver is installed correctly. 

7. Please choose the right com port. 

s. Check out the oower suPPlY of wireless data-links before use. 

9. Please close the DJI assistant software before open the ground station. Otherwise 

there will be oort conflict . 

10. Make sure the distance between 2.4GHz ground end and air end is over 1.5m; the 

distance between 900MHz oround end and air end is over Sm. 

11. Use the right cable for connection . 

12. Hioh voltaoe servos & FBL svstems can drain the flioht batterv fast. Please make sure 

your flight pack is sufficient for the flight time intended. 

13. About control modes (~, ~tti.l, PPS Atti.l r::Pc:=Pc:=S-C:::-r-u:-is'8b, please refer to ACE 

Control Modes in ACE Waypoint User Manual and WKM Control Modes in WKM User 

M::mu~l 

14. Autopilot Mode (auto mode) means: GPS Atti. or GPS Cruise Mode in ACE; GPS Atti. 

MnriP in \NKM 

If you have any problem you cannot solve during installation and usage, please contact our 

r115::tnmPr l':Prvir.P 

©2012 Qjllnnovations. All Rights Reserved. -6-
Connection 

&, Ground End 

• You should have a DJI Ground Station Installed laptop. 

Use the USB Cable supplied by us to connect the wireless datalink ground end to you laptop. One end of the USB cable has two 

heads, make sure the communication Interface Is plugged Into 

your laptop. If the power supply is insufficient using one USB port, 

then plug the power interface Into the laptop also. 

I 

Head I Antenna 

I ~ r ~~ I 

d.JI 

Any spare CAN 

portonDJI 

autopilot system 

r 

&,Air End 

Any spa

port o

autopilo

900MHz wireless data-link air end has two CAN ports. When you use it with ACE a

system and low voltage servo, you should connect one CAN port to sparE CAN 

autopilot system, and connect another one to a battery whose output voltage is in th

of wireless data-link air end working voltage. 

2.4GHz wireless data-link air end has only one CAN port. 

Usually connecting one CAN port on air end to any spare CAN port on DJI autopilot s

_D enough. I • WKM user should use it with PMU. 

I 

-(··2o!·: an )!!!tl\atiPii:l ... \n R!:~ilt::: R~·:-.L']"\"':d High voltage servos & FBL systems can drain the flight battery fast. Please make sure your fli

is sufficient for the flight time Intended. Make sure the antenna head of Wireless data·link air end is erect down, then you can h

largest range. 
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Ground Station Software 

Install Software 

• Operating system requirement Windows XP(Needs to install sp2 patch), Vista, Windows 7,Windows 8 

(32-bits, 64-bits, basic version needs to install sp3 patch); 

• Adobe® Reader® is required for user manual reading; 

• Please follow the following install procedure strictly to install all required software. 

Insert the CD to CD-ROM, auto-run window will appear. 

1. Check if .Net Framework 3.5 has been installed. If not, click ~nstall .Net Framework 3.51 to install. If 

yes, go to step 2. 

2. Check if Internet Explorer 8 has been installed. If not, click .nstall Internet Explorer 81 to install. If yes, 

gotostep3. 

3. Click .nstall Google Earth Plugin For DJij to install Google Earth. 

4. Click .nstall GS Radio USB Driveij to install driver. 

5. Click ~nstall DJI Ground Stati<>d to install GS. 

6. Click~ to finish installation. 

C 2012 DJl [nnoYatit1ns .. \ll .Righb Resern:d. - 8-
Start Software 

Start Window 

(1)Start the Application of GS 

• Network Detection, if the Network connection fails, it will go offline mode automatically. 

• You also can go into offline mode by clicking the !OFFLINE MODEl button. 

(2)Connect to Main Controller 

• Click~ button on the upper right comer to connect to DJI autopilot main controller. 

• If errors are showed, it means there may be some problem on connection, please check. 

( .:'0 12 DJI lmHnations .. \ll Rights Rescned - 9-
I 

I 

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--1 

Application 

Control Mode Switch 

0 <J) f) 0 

...J E 

'iii :3 

"' c <J) 

Ol 0:: l8 ·;;; 'iii -"' c 0 Ol ti ·;;; >- 0 -"' 0 GPS Cruise Mode -:> 

~ >- 0 

Click Go 

Mode 

6) 

Waypoint 

Mode 

Manual 

~ Mode 

t 

0 § 0 "' ...J 8!. ~­.2> ~ en .!2' 

~ en 

Atti. Mode ~ 

' , 

TxSignal 

Lost 

' ' 1 sf Uh$ Frotecttori 

' , 

' ' 21t1 L.ine Protection 

(2012 DJI Innovations .. \11 Rights Re~cno:d. 

t TxSignal 

Resume I 

Tx Signal Lost time > 1 Os 

~w .!2' E 

en=> "' X Q.l - 1- 0:: ~ 

- 10-
GUI 

GUIInstruction 

1. Qoysticij: 

+ ~ Choose your input equipment. 

+ Choose ICalibratiod: Joystick calibration. 

+ !Channel MappinQl: Joystick channel mapping. 

2. tfooiBo~: 

+ ©lick Go Mod€!: A real-time single waypoint function. 

+ IF ChanneiControllefl: Customize F channels function of Main Controller. 

+ J§elative Coordinates EditOII: Add a new waypoint relative to current waypoint. 

+ !Route Templat€1: Route library. 

+ !Action ConfiQI: General purpose servo action configuration. 

+ IPhotogrammetry Toot Photogrammetry toolbox. 

3.~: 

+ !Basic SettinQl: 

• Sound: Tum on or off the sound. 

• Instrument Board Style: Choose different style of the Instrument Board. 

• Action Setting: Action number display interval. 

• Pause Mode Control Interval: Frequency of data packages sent to MC. 

- 11 -
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• Target Line: Line between aircraft and current target. 

-+ IIJata Link SettinQI: 

• The waypoint number of one package. 

• Upload one package. 

• Retry one package timeout. 

-+ !NetWork SettinQI: 

e GS VPN: VPN switch. 

ON: If ON is selected, the VPN auto connnect when you launch the GS. 

OFF: If OFF is selected, the VPN not auto connect when you launch the GS. 

~-#\ltitude offset!: Set up the altitude offset. 

• Height: Height mode. 

• Elevation: Elevation mode. 

~pata Record Folded: Include both ~and Missioill Folders, for saving log files and flight 

4. 

5. 

6. 

7. 

8. 

9. 

10. 

11. 

route files. 

~anguage(g-1§~: Click to change language, English or Chinese. 

-+ ~-

-+ ~-

~ 

-+ r.::©"""hec---:-k-:fo,...r"""U p"'""'d,-at,...,~: Update software here . 

-+ ~: Check your OJI Ground Station version here. 

-=nter locatiO!ll: Go to the location of your input. 

fly Tracet Click to show the trace of aircraft. 

fathExtrud~: Click if you want to see flight Path Extrude during mission editing. 

Map Detailij: Click to see map details. 

~nstrument Boar(t Click if you want to display instrument board. 

~: Click if you want to display mission editor. 

12. ©ontinuij If you switch into autopilot mode from waypoint mode, click ~ then click ©ontinuEl. 

the aircraft will continue the remaining (Unfinished) mission. 

13. IPaus~: Mission pause. 

14. Serial port selection. 

15. ~ Click to connect to main controller. 

16. ~ Click to find aircraft location. 

17. Real-time coordinates of aircraft, you can copy the data. 

18. lOne Key Takeoij: Click to take off the aircraft. 

19. Fiome Poinij: Find your home location. 

20. Real-time coordinates of home location, you can copy the data. 

- 12-
~ -, 

! 

1 

i 

21. 

22. 

23. 

24. 

25. 

26. 

27. 

28. 

!Set Home Poinij: Change your home point. 

!Go Home¥ Click to go home. 

To show ~eal mod~ or !Simulation mod€1. 

!Signal stren9tft Shows the connection state between controller and ground station. 

~ Real-time GPS signal quality. 

~TTl~ Real-time attitude quality. 

~ Real-time control mode. 

Other state parameters: The autopilot system decides. 

+ WKM: 

• fV1otorV oltag~: Battery voltage. 

+ ACE: 

• 

• 

• 

IServoVoltagg: Servo output voltage . 

~: Real-time pitch percentage . 

tfhrottle%1: Real-time throttle percentage . 

29. Download and upload progress bar. 

30. ~ Cancel button. 

- 13-
1 View Mode 

1.1 View Mode Procedures 

1. Check Signal Strength: !II shows 'no communication between GS and MC, please check 

Troubleshooting in Appendix. IIIII is constructed, can go to next step. 

2. ~ When ~signal is good enough, click~ will show 0)1, bONG II and IALTII of aircraft, 

then the aircraft logo will be showed on the map; if the aircraft logo can't be found, please double click 

~ 

3. @titudeOffSetj: Click @titudeOffSetl from ~. you can just use the value recommended, and click 

E2B!. Read the paragraph below to get more details. 

4. Switch ~ or IE1evati0111 Mode: ~ mode shows relative height, and the 0 meter is the aircraft 

height when you choose Height mode, above 0 is positive and below 0 is negative. !Eievati{ij mode 

shows height above sea level, figure is showed in Fig@ 

5. fiorne Poinij: Horne point can be found only when ~ signal is good enough. If WKM, Horne Point is 

20 meters above the aircraft position where user pushes the throttle stick first time; while ACE is 30 

meters. 

6. View f'ly Tracd. !Instrument Boar(j and State Information: For displaying flight track and aircraft state. 

Contents are decided by autopilot system. FigCDA will be displayed if you are using ACE; FigCDB will be 

displayed if WKM. ~nstrument Boarij is showed in Fig@. 

Fig(DAACE 

till I GPS \.\. t<o~k ~~~Tlf yaOJd r MODL attt 'MtJtrsrVottlCJe.11.~,v! 1 

FigCDBWKM 

Fig@ Fig@ 

1.2 System Setting 

System Setting includes~ Setting, IAHitude Offset! Setting and pata Record Folde~. 

(1)0ptions 

C'·.?012 DJ!Inno,ations. :\II Rights Rt'st'rved. - 14-
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Tips: 

Click PEFAUL 11 to retrieve defauH parameters. 

The~ setting includes both !Basic Setting and !Data Link Settin!j. 

Basic Setting 

• ~ If switch ~. there will be alann sound when the radio signal is bad . 

• .nstrument Board Sty@: Choose different instrument board style. 

• !Action Settin9l: Set action number display mode. For example, 3 means that a mark will be 

displayed every three aclion intervals. 

• f'ause Mode Control lnterva.: Time interval of sending commands to the MC when use joystick or 

keyboard in pause mode, the smaller interval, the more fine control. 

• tfarget Lini'i: Display a line between aircraft and current target when switch~· 

• VI Float Tips ShOV\il: If selected, the corresponding item(s) will real-time display in the main fonn. 

Voltage of ACE is Servo Voltage while WKM is Motor Voltage. 

Data Link Setting 

Setting parameters for the communication between MC and GS. Usually just keep IOEFAUL 11 parameters. 

• 

• 

tfhe waypoint number of one packaget 

Vpload one package retry timEiSI 

l. 2!!12: DJilmhnations . .-\li Rights Resern:d. 

Ul Float Tips with ACE 

Ul Float Tips with WKM 

- 15-
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(2)Aititude Offset Setting 

• GIS database (Google EarthTM) is not precise, while Flight Path Mountain and other obstacle/building 

collision checking feature performed based on this database, which is not real-time or up-to-date. 

Google Earth TM plug-in is only for the purpose as a general landscape browser, for quick way points 

positioning without much safety guarantee. 

• Pressure sensor is used for altitude sensing, leading the result varies according to weather. Therefore, 

you might have different altitude values on the same location at different times. However, its relative 

height may be far from precise than absolute aHitude information in GIS . 

• 

• 

Due to above problems, the following method for relative flight height calculation would be most reliable. 

1) Record the aircraft altitude before take-off, as LGound 

2) Way point altitude = Relative Flight Height + LGound 

Please keep in mind that this method is the most reliable way for flight path collision precaution. 

The Altitude Offset value given is only for the purpose to avoid visual confusion, such as Case 1 in fig.CD 

shown below. The aircraft represented by the red point was located on the ground in real world but 

floating in the sky within 3D-Map. You have to give a negative offset value to reduce the aircraft altitude 

for visual effect only. The calculate altitude offset function will give you a suggestion for offset setting but 

not guaranteed to be correct. Because if the aircraft is landed on the roof of the building as in Case 2 in 

figure shown below, and the building information will not appear in GIS database, which means you 

cannot use the same method as in Case 1. You should calculate this offset value with a known or 

estimated building height. 

Tips: 

We highly RECOMMEND you to consider the relative flight height discussed during flight mission editing. 

Case1 

Heli stay on the 

ground 

case2 

Heli stay on the roof 

of building 

IN REAL WORLD IN 30-MAP 

Before set-offset After set .offset 

- 16-
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(3)Data Record Folder 

• lb29l Folder: Ground Station data recording function which is for recording all data transmitted and 

received by radio module. You can open the log files in this folder by notepad. You can send the log 

files to DJI customer service for analysis if you have any usage problems. 

• Missio~ Folder: Auto saves each flight route. You can open these files by IEditoq. 

- 17-
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2 Joystick/Keyboard Mode 

Joystick/Keyboard mode is the 2nd permission for users, and Fly Simulation, One Key Takeoff and Joystick! 

Keyboard functions can be operated. 

2.1 Simulator 

Pre-Flight Simulation aims to help you getting familiar with the Ground Station software. A successful flight 

under simulation mode does not guarantee your aircraft to work successfully in real world, since it is only a 

virtual environment based on the assumption that your aircraft is working under perfect condition with infinity 

power supply, favorable weather, and also that the GIS & GPS are providing 100% correct and precise 

information. The aircraft physical model in simulator might not perform the same flight characteristic as your 

real aircraft. 

Notices: 

ENSURE the following requirements whenever during/before Simulation Mode: 

1) 

2) 

3) 

You MUST NOT take off your aircraft. 

You MUST NOT tum on your aircraft engine/motor. 

You CAN disconnect the power supply for electric motor, or disconnect the throttle control servo 

motor for fuel engine. Otherwise, incorrect operation could result in serious personal injuries. 

Please follow the steps strictly for Simulation Mode use: 

1. Connect the whole main control system completely, including IMU, GPS, etc. 

2. Hold ~ then ~ight clic~, you will see ~imulat€1, and the aircraft logo will be at the current mouse 

position. 

3. Click ~imulat€1, you will see a "Warning" window. 

4. Click~ to tum on !Simulate ModEl. Now GS is in !Simulate Mod€!!!! 

Notices: 

• 

• 

We HIGHLY RECOMMEND Simulation Mode for practicing purpose for flight mission edit, try to get 

familiar with all the operations of your Ground Station as much as you can. 

The simulation model requires a complete main control system connection, and you can reference 

to Assembly in DJI autopilot system user manual. 

t 2012 DJI Innovations. All Rights Resened. - 18-
I 

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2.2 One Key Takeoff 

Notices: 

j()ne key takeoij is a function especially for WKM, that can be used only in @utopilot modij and when GPS 

signal is good. 

Messages may be showed as follows: 

Successful takeoff message 

''The aircraft is auto Takeoff!" 

Error messages 

"Auto Takeoff failure, GPS is not ready!" 

"The aircraft is Takeoffing!" 

"Auto Takeoff failure, the aircraft is already flying!" 

"Auto Takeoff failure, please switch to auto mode!" 

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2.3 Joystick and Keyboard Mode 

Please ensure GPS signal is good enough, the aircraft is already flying in air, and the control mode is autopilot 

mode; then click~. choose joystick or keyboard mode, Fig.<D shows that keyboard is chosen, and then 

you can use keyboard control the aircraft, and drag the cursor to change roll, pitch and rudder control value, 

the higher the cursor, the bigger the control value. 

Fig® 

Keyboard Mode 

Use keys ~. [§I, ~. ~. liJ, (il and tj, 9o control the aircraft. ~. ~for Roll, ~- [§I for Pitch, tj, 8or Rudder 

and liJ, (ilrorThrottle. For example, use helicopter to be aircraft model, shown as Fig.®. 

= 

t ... 

Roll Elevator Collective Pitch 

Fig@ 

Joystick Mode 

+ Requirement 

Joystick control based on a third party hardware controller, you can choose your preferred device based on 

the two types of joystick indicated below (Fig@). 

Type 1: Traditional RIC style flight simulation controller; or your RIC Tx with a third party simulator link. 

Type 2: Linear single stick 3D controller. 

Fig® 

- 20-
1 

-+ Technology Requirements 

• At least 4 linear control channels are necessary; otherwise the joystick function will not work 

properly. 

• Use USB connection. 

-+ Connection 

~~hoose JoysticN 

Refer to the user manual ofthe specific controller I Joystick you choose, and ensure the USB cable is properly 

connected. 

Notices: 

Please ENSURE the Joystick is properly connected physically, do not disconnect the joystick 

connection when Joystick Mode is activated. 

-+ Calibration 

~~&;alibratiolil 

Steps Joystick (Type1) 

Step1 

Step2 

Step3 

~ 2012 DJI lmwYations .. \11 Ri~hts Rcscnc.J 

Type1 

Place all trim levers (for 

physical fine turning) in their 

neutral, or centered position. 

Click~ 

Center all the sticks. Click 

~to continue. 

Move all sticks through their 

motion range completely 

several times. When 

completed, click~· 

Type2 

For Type 2 controller, might 

not have these physical fine 

turning levers. Click~· 

Center all stick including 

throttle stick. Click ~ to 

continue. 

Move the sticks through their 

3D motion range complelely 

several times, including pitch. 

When completed, click lFinisij. 

-21 -
-+ Channel Mapping 

~!Channel Mapping! 

• Each control channel can be reversed, and mapped to one of the control functions listed in 

corresponding drop down boxes.(FigCD) 

• These control function are 'Roll', 'Elevator', 'Yaw '&'Collective Pitch', they represent the cyclic and 

rudder control of your aircraft. use helicopter for example, shown in the figures below(Fig®). 

Where the '+' represents positive channel value, '-' represents negative channel value. 

• Push your joystick, and the channel value feedback will tell whether it matches with suggested 

joystick control direction or your own settings, and then make your adjustments. For Type 1 

controller, please refer to the controller's manual. 

/ '\ 

Roll 

.:., ct:::t - + 

Fig CD 

Elevator 

Fig@ 

·• 

Yaw 

+ 

Collective Pitch 

Collective 

Plc~+) 

"' 

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3 Click Go Mode 

~lick Go ModEil is a real-time single waypoint flight mode. Under this mode, you can send a waypoint to your 

aircraft immediately. 

1. Please ensure GPS signal is good enough, the aircraft is already flying in air, and the control mode 

is Autopilot Mode {ACE is iGPS Atti.l or IGPS Cruise Modij, WKM is iGPS Atti. ModEib. 

2. 

3. 

Click ~!Click Go Modij to open the window as the figure shows. 

Click -=nter Click Go Modij. Now the aircraft will go into hovering station. 

4. Input the waypoint Altitude and aircraft Speed. 

5. Hold the I$ pace ke~ on the keyboard, move the mouse in the 3D map, ~eft clicij to set the waypoint. 

Then the aircraft will fly toward this waypoint immediately. You can also set a new waypoint during 

the flight. 

6. Click !Exit Click Go Modij, the aircraft will hover again. 

7. Click lCONTINUEj button to continue the previous flight. 

Notices: 

• The aircraft will go into hovering station while the MC isn't receive a heartbeat package from the GS 

in 5 seconds; 

• The aircraft will go into auto go home while the MC isn't receive a heartbeat package from the GS in 

a minute. 

Tips: 

When in the lCiick Go Modij, all Tx control sticks are disabled. To regain control using the Tx, flip the mode 

switch to tvJanual modEil, and then to other control modes {ACE: ~ ~. or IGPS Cruise modj 

WKM:~.~-

- 23-
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4 Waypoint(Single Waypoint User Skip This) 

Waypoint package includes Waypoint Mode, Auto Takeoffing!Landing, F Channel Controller, General Purpose 

Servo Action, 6 Pre-Programmed Route Templates and Photogrammetry Tool. 

4.1 Waypoint Mode 

See the flow chart to get the information about Waypoint mode operation. 

Mission Editor 

-24-
1 

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! 

Instructions 

1) ~to print info. Such as: upload success, upload failed ... 

2) 1\Naypoint liij You can click icon l3 before !Editing Missioij to sh01o11 all waypoints in the table. 

3) You will see J\'iission propertieij if 14) selected. 

+ Mission properties 

• Wi/1issionTimeLmij: If the flight-time exceeds the value (>=60sec), it will go home automatically. 

• ~: The mission execution mode selection: includes both modes of !Start to En(ij and 

IContinuouij. 

• IStartWayPoinij: Define the first way point that the aircrafl goes to afler clicking I§QJ. Select the 

proper way point index number listed. 

• f{erticaiSpeedUmitl: Vertical speed for up or d01o11n direction, unit is m/s. 

+ Set Mission properties 

• jSetAIIWPsAiij: Set altitude of all waypoints. 

• jSetAIIWPsSJ)eedl: Set speed of all waypoints. 

• jSetAIIWPsTumModEi!: Set tum mode of all waypoints: l$topAndTuml. !Bank tum I , 

!Adaptive Bank Tum! and~. 

• jSetAIIActiOill: Setup the parameters of a set of repeat actions. 

4) Description of selected item. 

5) Altitude change 1Om or 1m per click. 

6) Add new way point by ciick[3, and then .efl clic~ on the map. Or .eft clicN on the map with ~- Clickjj 

to delete the selected points. 

7) ~: Click the~ button to delete running mission or editing mission on the map. 

8) ~and~ the mission. 

9) ICanceij all edited waypoints. 

10) ~the mission to Main Controller. 

11) Click~ to execute assigned mission, including Auto Take off as assigned. 

12) Sh01o11 Waypoint properties. Any item in !Editing MissiO!ll selected is writeable; Assigned Mission is 

read only. 

+ batitudEil & !longitude!: Units are in degree. 

+ ~: Unit is in meters. 

+ tf umModEf. Set the tum mode individually. 

+ !Forward Flight Speed!: Velocity from previous point to current point is limited to <= 25 m/s. 

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. l. 

+ IHeadingDegreej: Heading degree facing this way point, unit in degree. 

+ fjoldTimEil: The time to stay at this waypoint, unit in second. 

13) WaypointAction properties 

+ ~: (Unit: second) Setting the time period of the action. 

+ ~epeatTimEil: Setting the repeat time of the action assigned. 

+ IStartDela~: (Unit: second) Setting when to activate assigned servo actions if the flight arrives 

this way point. 

+ ~epeatoistancij: (Unit: meter.)Setting the repeat action in distance. 

15) Set the editor box transparent. 

16) Set the editor box size . 

('2012 DJI inlW\ations. ,\11 Ri~lus Resened -26-
(I) Flight Mission Setting 

STEP1: 

STEP2: 

STEP3: 

Click ,··to open the mission editor, see fig.CD. 

Click~ to edit a new mission. 

Add waypoints. 

-+ Add waypoints 

There are two ways on adding waypoints. A maximum of 200 waypoints can 

be added in the ACE waypoint mode, and a maximum of 50 waypoints can 

be added in the WKM waypoint mode. If selected, the waypoint will change 

to be green, see fig.®. 

(1)Add Point by Point 

STEP1: Click l3 , or press !9I1. 

~-~ ,..,•.r;;tss:.:• 

~( iR:" t<N E.lOST,r.;:;. .... :: 

~I'}.~OJ.O rRc.v !,.l;,>~ t"'J~n.r.. ~!:~ 

,,~-~ ~- --~ -~ 

Fig(!) 

'lPm> ·' • . • -,4}l?ID.l, 

"'~~ "',.f!_- ' 

Fig@ 

STEP2: befl clicij on the 3D-Map where the locations you want to add a way point. 

Tips: 

Repeat above procedure if you wish to add more new waypoints. The initial waypoint index will be 0, 

incremented by 1 each new way point is added. If you want to insert a point before another point, you can 

move the mouse over the point then press I9I1 with befl clicij. 

(2)Using Relative Coordinates Editor 

After the first waypoint, you can use [oolbo~ ->!Relative Coordinates Editorl to add new points. 

1. Select one waypoint, then press~ you will see the input window shown as fig.@. 

2. Use~ to switch between these two input frames. 

3. Input the relative coordinates: ~ is the relative angle to the 

north of current waypoint; jDistancij is the relative distance to the 

current waypoint. 

4. Press ~. then you will see a new waypoint after the current waypoint. 

-+ Delete Way Points 

Fig@ 

1. Select waypoint either in map or in !Editing Missioij Menu, and the selected waypoint is in green; 

2. Click 8 or press kleletij to delete all the waypoints added. 

Tips: 

Repeat above procedure to delete more. Click I¢ANCLEl to delete all the way points added. 

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-+ Waypoint Properties Editing 

Select the way point in 3D-Map or in the jEditing Missioij Menu. See figure as following, @titud€1. tfurnMod€1, 

!Forward Flight speedj, fieadDegreij and IHoldTim€1 can be set, then press ~nted to confirm. 

( 1 ) Altitude 

The altitude (unit m), if pointed to ~ mode, • 

means relative height; otherwise !iiltitud€1 mode 

means the waypoint altitude. 

(2) TumMode 

There are three different turn modes for the aircraft 

at each waypoint: l$topAndTuml, !Bank Tulij and 

!Adaptive Bank Turlll. The default tum mode in the 

system is l$topAndTulij. Change it according to the 

following steps. 

The fiold TimEil in waypoint property is deactivated if 

~ank Tuffil or !Adaptive Bank TurN is chosen. 

C 3) Forward Flight Speed 

This Speed is the air speed of aircraft flying to 

specific way point editing. (Unit in m/s). 

In Waypoint Mode, the default speed is 4rn/s, 

and the maximum speed allowed is 25m/s. 

(4) HeadDegree 

When the aircraft arrives at a given point where 

to head towards a certain direction, you can use 

this value. (Unit in degree). 

(5) HoldTime 

• 

• 

• 

• 

• 

Sets the time to stay in a particular waypoint, not • 

for !Bank turn!, only for IStopAndTurd (In second). 

Edit the altitude of each waypoint by clicking 

theiM-4 

Type in the precise altitude in the box . 

Make a selection from the drop down box 

after tfumModij for mission execution 

mode. 

Type in the precise !Forward Fligh~ 

~in the box. 

Input the degree value in the item . 

~ight clic~ waypoint and hold on, then 

move wheel or pressfil, I1Jto change head 

degree. 

Type in the time to stay in a waypoint 

after the tfimeHoldl in the box. 

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-+ Mission Properties Editing 

Click !Editing Missioij and the !Mission propertie51 figure shown as following. Please set jMissionTimeLmi. 

~ selection,IS§irtWayPoinij, lerticaiSpeedLimiij and l$et Mission propertieij, and press IEnteij to confirm. 

( 1) Missionlimelmt 

If the aircraft's flying time exceeds the value, it will go 

home automatically. (Default value is 65535sec. Min 

value is 60sec, Max value is 65535sec.) 

(2) Route 

Selection route modes: @art to En~ or IContinuouij. 

• Type in precise time in the box after 

f\llissionTimeLmij. 

!Start to End!: execute once from start point to end • Make a selection from the drop down box 

after~ for mission execution mode. point; &ontinuouSI: repeat from start point to end point. 

(Default setting is !Start to End!.) 

(3) StartWayPoint 

Setting for start waypoint from the existing waypoint 

indexes. (Default start waypoint is 0.) 

< 4) VerticaiSpeedlimitSetting 

This Speed limit is the absolute velocity of aircraft in 

• Make a selection from the drop down box 

after l$tartWayPoinij from the existing way 

point indexes. 

vertical direction, up or down (Unit in m/s). The default • Type in the precise speed in the box alter 

f'/erticaiSpeedLimiij. vertical speed limit is 1.5m/s and the maximum speed 

allowed is 5.0m/s. 

(5) Set Mission properties 

e SetAIIWPsAit 

e SetAIIWPsSpeed 

e SetAIIWPsTumMode 

• SetAIIAction 

The properties setting above, once set, then all 

the destinations will change and be the same; if 

a single waypoint's properties are set 

individually, then the corresponding waypoint 

properties will change. 

+ Examples for Way Point turning mode: Shown as figure A1/A2. as following. 

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! 

+ Examples for Mission/Way Point properties setting: B1/B2 Selection for the state of~, and 

IStartWayPoinij. 

Way point 1: Stop and Tum 

OJ----.< 

Mission properties: 

Rout.: 

Continuous 

Star!WayPoint : 1 

~(!) 

0-® t ' 

+ Examples for path of way point 

Way point 1: Bank_ Tum 

properties: ·@iti:-t Route: 

Start_to_End T 

StartWayPoml: 0 ® CD ~------ 0 - 1 / stop here, \ 

'~slay hoveri,, ' -----~ f.i'\ \!1-~ 

Way point altitude Index number of way point JJ. Way point )( 

• I\ 

between two way points 

-+ Mission Save & Load 

Mission Save 

1. Click ISA VEl to save mission edited. 

l

1 Under editing )~ Not selected 

Path Color Before Mission Execute 

_ Aller mission checked. If collision happens 

between way point path and mountain, these 

path will be shown as red; 

If path distance longer than 10 km, it will be 

shown as yellow. 

~ Blue one is normal. 

Path Color During Mission Execution 

All the paths including way point index will be 

shown as dark red during mission execution. 

2. Choose a name with extension '.awm'. For Example: DJI_Mission_20100101.awm. 

3. Mission Load 

4. Click lOPENl to load mission saved; choose mission file with extension '.awm'. 

Notices: 

The IAHitude offseij value will not be saved in mission file. Please set it every time!!! 

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(II) Upload Flight Mission 

Final Check & Mission Transmitting: ClickiUPLOAQ on the upper bottom of the mission ~to send flight 

mission to DJI autopilot main controller. Here a mission review table as following example will appear for 

mission final check. Press!QBI. The mission is ready to be executed after synchronized successfully. 

Example of "Mission Review" table under 3 waypoints mission 

Waypoint Latitude Longtitude Altitude Speed Turn 

Mode 

0 

2 

Tips: 

xxxxx xxxxx xxxxx 4 StopAndTum 

xxxxx xxxxx xxxxx 6 StopAndTum 

xxxxx xxxxx xxxxx 15 StopAndTum 

Number [Aitidiff] is the current relative height from waypoint(s) to aircraft 

Number [Take Off Point) is the relative height from waypoint(s) to take-off location. 

Example shows a possible error at waypoint 0 

altid"df -10m In RED. Because the waypolnt is 10 

meters below ground. 

20m 

Ground 

Altidiff 

--10 

20 

25 

After synchronization, if mission is re-edited, you should re-do the synchronization. 

(Ill) Take off Aircraft 

Action 

Module 

NULL 

In meter 

In second 

After finishing all the above steps, take off the aircraft in one of three takeoff modes. If you want to use Auto 

Takeoff and Landing function, please skip the step Ill and go to Step IV directly. You can take off your aircraft in 

Manual Modtil, please hover it at a suitable height. 

(IV) Switch to Autopilot Mode 

Switch to any autopilot mode on your TX. Ground station is able to control the aircraft only after switching to 

autopilot mode! 

Notices: 

Making sure sufficient GPS satellite signal is acquired. 

Tips: 

Refer to DJ I Autopilot System User Manual for~. ~. IGPS Atti.L IGPS Cruistil switching of your 

autopilot system, and also the Manual of your RIC Transmitter (Tx). 

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(V) GO!! 

Click ~ in the mission !EditOll, and the aircraft will fly automatically according to the path set in the flight 

mission. 

Tips: 

• Using~ to re-edit the mission, while a mission is in process. Please click~ in mission~ 

to do so. Then the mission editor will return to the state explained in previous section flight Missiolil 

!Setting! 

• Using fAUSEj to pause the mission, while a mission is in process. Please click IPAUSEj, and the 

aircraft will slow down and stay hovering. Click ICONTINUEj and the aircraft will resume the 

un-finished mission. 

When you set the waypoints for the aircraft to climb a mountain, please make sure that you leave enough 

distance between the aircraft and the mountain, in order to avoid collision caused by aircraft air speed. 

Please note that when you set a waypoint above water such as lake/sea/river, the default altitude the map 

shows will be at the bottom of the water body. Please be careful in setting altitude over water. 

~- 201.2 DJI Jnnn\ations. :\ii Right-. Re~er\ed - 32-
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4.2 Auto Takeoff and Landing 

Please read this carefully in order to work properly. It is imperative that you understand the procedures 

outlined before executing auto takeoff and landing functions. 

Tips: 

ACE users need to obtain Semi Auto Takeoff and Landing permission. WKM has this function built-in. 

Auto Takeoff 

Only after assigning or editing all waypoints, the mission is ready to take off. 

1. Place transmitter throttle stick to the lowest position. Otherwise, a tip (the aircraft is on the ground,! 

but the throttle is not in the lowest position, please do not switch to manual mode!l will be shown. 

2. Flip the flight mode switch to either IGPS-CruisEl or~ mode. 

3. Press !(3:g command on the lEditoij, the aircraft main rotor will begin to spool up. 

Notices: 

!Aircraft is ascending to waypoint altitude, please place throttle to mid-stick! I This warning will go away 

after you place the throttle stick at mid-point, a safety feature in case you accidently bump the mode switch 

to Manual modli! or IGPS Atti modli!. 

Auto Landing 

After mission completing or the aircraft returning home, and the aircraft 

hovers within visual contact. Use Ground Station keyboard for auto 

landing (Press pausEl button then select keyboard control). !Auto Landing! button will be available. Use ~ 

(Pitch), 00 (Roll), ltYUl (Throttle) and BEJ<Rudder) to navigate to decent landing zone, or allowing Ground 

Station automatically provided a landing zone is clear of any obstacles, in order to decent the aircraft. 

Use one of the methods bellow to land the aircraft. 

(1) Click !Auto landinQI, aircraft will auto land then stop engine by itself. In the latter situation, to terminate auto 

landing, please press fr] or 111. or deselect the keyboard control buttonfliiil-7&11. 

(2) Use Ill to land the aircraft. After landing, keep holding Ill until engine stops. 

Notices: 

Please press pausEl button and select ~eyboar~ mode, before auto landing operation. 

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4.3 F Channel Controller 

Use Ground Station to customize the MC's F channel control, so that you can control the external payloads 

such as camera and gimbaL 

1. Click ~IF ChanneiControij, he setup window shows as the follow figure. 

2. Click the small box beside channel name to choose the channels will be used. 

3. Click the button with letter, then press ke~ shown and you need to choose a new control key 

on the keyboard. 

4. Setup the channel measuring range in the number boxes. 

5. Usually, the slide left endpoint represents the minimum value. However you can tick the 

~evers~ box to reverse the measuring range. 

6. Click !Exit and HoldinQI to exit and keep the range value; Click !Exit without HoldinQI to exit and 

forget the range value. 

Tips: 

ACE supports F1, F2, F3 and F4; 

WKM supports F1 and F2 only. 

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4.4 General Purpose Servo Action (GP-Servo Action) 

GP-Servo Action is supported by one of the servo output channels in the transmitter, which will work as an 

interface between DJI autopilot system and external devices. This feature allows DJI autopilot to operate your 

external devices automatically during basic aircraft waypoint mission. 

GP-Servo Action Setting 

1. Click tfoo1Boi<I-71GP Servo Action Confi!il to open the !General Purpose Servo Action Configl 

windows; 

2. Click the box Pl\ction Mode OnOij to enable the GP-Servo Action function; 

3. For ACE, the GP-Servo uses the output channel F4 in the MC; for WKM, the GP-Servo uses the 

output channel F1 in the MC. 

Notices: 

The servo position value is from -1000 to 1000; the Stay Time is in second. 

The software aims to let you program four different servo positions, use servo for example. 

• Initial servo position and three specific servo working positions. 

• Timing of each servo transition in one GP -Servo Action cycle. 

• The repeat time of a GP-Servo Action assignment on a particular assigned way point. 

• Time gap between each GP-Servo Action assignments. 

Please assign a default position for servo in natural status, and others 3 positions as well as the time to stay in 

such positions for servo to work as assigned. After all settings (click ~ to save the settings), then click 

~you review the GP-Servo Action, as we explained in One GP-Servo Action Cycle. 

One GP-Servo Action Cycle 

Hot.DONls HOlDONls HOWONls 

GP-Servo Action during flight mission 

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Way point Action Editing 

Find and set the waypoint action properties according to the following procedures: 

1. Click; , the Mission Status will show !Editing Missioij label upon the Mission !Editorl. 

2. Edit flight mission. 

3. Select the waypoint either in 3D-Map or in the jEditingMissiolll menu, and get IV\faypoint action,! 

~hown as Fig]. 

4. Give the proper parameters explained in ~: ~ J§epeatTimij, IStartDela)i. and 

jRepeatDistancij. Set jRepeatTimij and IRepeatDistancij zero to disable the GP-Servo Action. 

Tips: 

Use l$etAIIActioninMissiolll properties to setup the sequence interval. For example: 0 means action 

property is applied to no waypoint; 1 means action property is applied to every waypoint; 2 means action 

property is applied to every two waypoints; 3 means action property is applied to every three waypoints, 

etc. 

Fig.(!) 

S~l 

Peri«t :;----------- Seque.oce lnter.;al; KJ'--.-----

RepeatTime: ·-,---- Seq.ut:nce:nterval: ~,--·-----·-

Sta:-tDe.fay. ~;-------- Seque-.1ce !ntErb'li: ';-----

RepeatDtstaoce__ Sequence mterva!: ,-;-· · · ------

Fig.@ 

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4.5 Six Pre-Programmed Route Templates 

Use one of the six Route templates to generate points automatically. 

1. Open the Template Form tfoo1bo~71Route Template!, shown as Fig.Q). 

2. Click !Add Areij button to add an area, shown as Fig.@. 

3. Choose the waypoint icon of the chosen area, and drag it to change the area size. 

4. ~ mouse to rotate the area, rotation 30 o per click; click liJilil. to adjust the area rotation 

angle and rotation 0.1 o per click, as Fig. ® shown. 

5. Click one tfemplat€1 to generate waypoint(s), for example, choose~ as Fig.® shown. 

6. Click ~mport to Edit Lisij to do template edit, for example, choose~ as Fig. ® shown. 

Tips: 

• You can exchange and redo STEP3 and STEP4, until get an area needed . 

• Dragging the waypoint icon also can move the area, and the chosen icon shows green . 

• More than one area can be added; operation will effect on every chosen area, if more than one area 

is chosen. 

• 

• 

• 

• 

• 

• 

• 

Left click mouse to choose or not choose an area, green area is chosen, and red is not. 

You need to choose the area if you want to delete it by click petete Area! . 

Click~ button once or twice, the route waypoints will be assigned vertically or horizontally 

Mouse on~ shows parameter meaning, row numbers for~ and points for others . 

You can set sea level at~. and ensure that the altitude is higher than the aircraft altitude . 

Edit waypoints after clicking !Import to Edit Lisij button 

5 Waypoints station will not enable~ mode . 

:1J~ Roule Template 

Add Ana 

Jlelete Area 

Fig.@ Fig.® 

Fig.Q) Fig.@ Fig.@ 

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4.6 Photogrammetry Tool 

!Photogrammetry tool! is for creating the professional maps by aerial photography easily. In order to do that, 

you need to setup the servo action and mission path correctly as follows. 

Tips: 

This tool is actually a functions combination. It simplifies the parameters setup procedure for the aerial 

photography. 

1. 

2. 

3. 

4. 

5. 

6. 

7. 

8. 

9. 

10. 

11. 

, . .,: .. ,., ___ , ... ., ... -

So•.o.•i'-·•-nrv,,:.,•%•-

Sc•o••··-·0'"'-'''q~ 

:·- ("H; r.~•a:-."~'r. 3~ ct:t:~e ;>~·1·~ .::}-.!.r;;l•J 1'3~ 

v:;:.~'"c~~~ -Y::P"">!'~:::I -

.... - ------ ----

t .n. 'l· a» ~~t~_Eia~k-:~~ • S1op a~d ~u~n ; 

-[Sjt2] 

:::1!:'H8~-.. ~~l:"";f;1t0ilo ~-: 

Est~aated maher of photos: " 

Est~•ated total tl.•e: ::. 

Estl.aated total d:tstance: .-, 

Fig.<!) Fig.@ 

Click~IPhotogrammetry T(}(}j to open the setting window, shown as Fig. <D. 

Click !Config the shooting actioij to setup the servo action for the camera shooting action, reference 

to section 4.4. 

Click f§eference Phot~ to see if the camera is working as you want. 

Fill in the right !Focal Lengtij, !Sensor Heighij, and !Sensor Widtill according to the camera. 

Fill in the fly Heighij, tJ Overta(:j and 1\N Overtaij as you like. IH Overta(:j and 1\N Overlaij represent 

the overlap percentage across the sensor height and width. 

Fill in the flight horizontal and vertical speed in IH Speed! and~ separately. 

Choose ~um modEl! between !Adaptive Bank TurJll and !Stop and TurO!. 

Click R\lick to draw a region which you want to scaij to choose an area, reference to section 4.5 to 

change the area. 

Click~ to preview the mission plan, shown as Fig.®. 

If everything is OK, click IGeneratEil to generate all waypoints. Now you will have a flight mission 

generated automalically in the IEditOII, shown as Rg. ®. 

Use the IGPSExplore!l to export the attitude data when the aircraft take a photograph. Please 

download this tool from our CD, or from 

http://download.dji-innovations.com/downloads/groundstation/GPSExporter.zip 

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Tips: 

You can edit any waypoint in the Editor after generate all waypoints. 

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Appendix 

List of Ground Station Shortcut Keys 

Operation 

View Mode 

~--~''· 

§ii+Mouse Roll uPI. §!¥Mouse Roll Down! 

IShifti+Mouse Roll uPI. ~Mouse Roll Dowlll 

Double click~ or !Mouse Roll upj 

Double click jRight KeY! or Mouse Roll Down! 

Joystick/Keyboard Mode 

Keyboard Mode 

Keyboard Mode 

Waypoint 

~ 

Left click waypoint 

then Mouse Roll uP! or Mouse Roll Dow& 

Left click waypoint then 11] or[] 

Left click waypoint then then~ 

' 2tJl 2 DJI htnu\atllltls .\il Rights R.:scn-:d 

Function 

Up/Down/Left/Right to move the map 

Up/Down/Left/Right to move the map 

Up/Down/Left/Right to rotate the map 

Left/Right to rotate the map 

Up/Down to rotate the map 

Zoon In the Map 

Zoon Out the Map 

Start Simulator 

Roll 

Pitch 

Throttle 

Rudder 

Set the Target Waypoint 

Add New Waypoint 

Head Degree Setting 

Head Degree Setting 

Open the Relative Coordinates Editor 

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Troubleshooting 

Ground Station Launching Failure 

-+ Map loading failure and abort. 

Solution: 

Choose "run as administrator" when you right click the Ground Station icon in Windows 7. 

-+ In English version Windows XP, if customer cannot open the program and the following error is 

reported: system. Format exception. 

Solution: 

~tontrol Pane~~!Date, Time, Language and Regional Setting~~egional and Language) 

~Regional Options kchange to English), senior (change non-Unicode program language into 

English). 

-+ The earth map is not shown up when you launch the Ground Station. 

Solution: 

Since some areas set restriction to network access, the GS cannot access to the Google sever, which 

leads to the failure in opening the map. Please use the VPN mode to launch the GS, by clicking the "VPN 

Mode" button signed by the red line. 

-+ If the~ button is gray and can't be clicked after launch the Ground Station. 

Solution: 

Please take the following steps to uninstall the Google Earth plugin, ~~~ 

~llJninstall Google Earth Plug-iij, and then use the installation CD to re-install the Google Earth 

plugin for DJI. 

+ Communication failure after click the tonnecij button. 

Solution: 

• Please choose the right COM port, and make sure that the driver is installed correctly. 

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• Make sure the transmitter and the receiver of the station are powered on. 

• Make sure the transmitter and the receiver are matched; do not change the setup of switches on the 

radio station. 

• Close the Assistant Software to avoid the port confliction. 

Instrument Board Failure 

~ The Ground Station launching failure when you click to open the instrument board; the reason is that 

your computer can't support the OpenGL 

Solution: 

You may choose the~ (shown in Fig.CD, @)in !System Settin~~ before you open the 

instrument board. 

Fig@ Fig@ 

Ground Station Software Crash 

-+ Ground Station Software Crash will not affect the aircraft under mission execution. The aircraft will 

- 1 keep going on the flight mission edited even the Ground Station Software crash. The Ground Station 

' -) ' 

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Software can be launched again, but loss of the following information will happen: @titude Offsefl 

value, !Aircraft track~ and !Way point4 

Solution: 

Click on the PQWNLOA[)j button, to retrieve the previously set way points from the DJI Autopilot main 

controller. 

UEit\ A td!;;. ,.r;r_s:_;, 

O?E!; FR~~"! :: E1~ 

--- FRO~A N .?dN 

Launch Right Failure 

~ Aircraft doesn't execute mission after click on ~-

Solution: 

• If aircraft is in the air, please ensure it is in Autopilot Mode, and there is no need to set center 

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position. 

• If aircraft is on the ground and does not takeoff, please use Assistant Software to setup the center 

position and the throttle servo working range. 

• If Auto Takeoff fails, you may take off the aircraft and then land manually in autopilot mode, then 

wait until throttle cut off automatically; or reboot the autopilot system to initialize the controller. 

Action Usage Faults 

~ If there is no output change on F4 channel when click on the ~in the !Action Settin91 window 

after connect to main controller. 

Solution: 

• Please ensure the receiver has been connected. 

• Please ensure it is under the Autopilot Mode or Waypoint Mode. 

• The action will not be valid unless the value of lhold timij is more than one second. 

When Wireless Data-Link Doesn't Work 

-+ If your Ground Station cannot be connected with the main controller, please check the following 

issues. 

Solution: 

• Make sure radio driver have been installed. 

• If the Antenna is broken, the communication distance cannot be guaranteed. 

• Two Wireless Data-Link Terminals had been placed too close. The valid communication distance 

between 2.4GHz wireless data-links should be longer than 1.5 meters; the valid communication 

distance between 900MHz wireless data-links should be longer than 5 meters. 

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Data-link LED Introduction 

Function Introduction 

Ground End 

• LINK-ALARM Distance Alann Light on indicates distance warning. 

,-~~ 

V LINK-ALARM Network Light Light on indicates communication is on with air end. 

• DATA-POWER Power Light Light on indicates working well. 

DATA-POWER Data Light Light flash indicates data transmit and receive. 

Air End 

olink Data Light Light on indicates communication is on. 

•Power Power Light Light on indicates working well. 

TX Transmit Light Light on indicates data transmit. .RX Receive Light Light on indicates data receive. 

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Wireless Data-link Specification 

2.4GHz 900MHz 

Perfonnance 

RF Data Rate 700kbps 100kbps 

~l 

Indoor/Urban Range :>500m :>1Km 

Outdoor/RF Line-of-5ight Range :>3km :>10Km 

Transmit Power 130mW 1000mW 

Receiver Sensitivity (1%PER) -95dBm -110dBm 

Ground end: 460mW Ground end: 1600mW 

Power Consumption 

Air end: 460mW Air end: 1500mW 

Features 

Frequency Band 2.4GHz(2400MHz -2483MHz) 900MHz(902MHz -928MHz) 

Serial Data Rate 115200 bps 115200 bps 

i 

1 Antenna Options SMA SMA ___ _I 

Operating Temperature -40°C -+85°C -40°C -+85°C 

Operating Humidity 0-95% 0-95% 

Ground end: 70x48x17mm Ground end: 78x47.8x17mm 

Size (No Antenna) 

Air end: 51x37x10mm Air end: 73x42x1 Omm 

Ground end: 55g Ground end: 100g 

Weight (Has Antenna) 

Air end: 20g Air end: 60g 

. ~I Power Requirement 

Supply Voltage 4.5V-12V 4.5V-12V 

Transmit Current 220m A 1300mA 

Receive Current 62mA 100mA 

Regulatory Approvals 

FCC(USA) Yes Yes I 

_j IC (Canada) Yes Yes 

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Naza 1!111111 M (V2) 

Quick Start Guide v1.o4 

2013.05.20 Revision 

For Firmware Version V3.12 

& Assistant Software Version V2.12 

Thank you for purchasing this DJI product. Please strictly follow these steps to mount and connect this system on 

your aircraft, as well as to install the Assistant Software on your computer. 

Please regularly check the web page of corresponding product* at our website www.dji-innovations.com, 

which is updated regularly. Product information, technical updates and manual corrections will be available on this 

web page. Due to unforeseen changes or product upgrades, the information contained in this manual is subject to 

change without notice. 

* Important: Naza-M, Naza-M V2 and PHANTOM control system are different in hardware parts, but their 

configurations and functions are the same when using the same Assistant Software and Firmware Version, so they 

use the same Guide. Unless stated, the following instruction is basic on Naza-M V2. If you use the Naza-M, please 

make sure to read the "Instruction of Vl (also known as Naza-M)" section; if you use the PHANTOM, download the 

other corresponding manuals on the PHANTOM web page. 

This manual is only for basic assembly and configuration; you can obtain more details and advanced instructions 

when using the assistant software. To assure you have the latest information, please visit our website and download 

the latest manual and current software version. 

If you have any problem that you cannot solve during usage, please contact your authorized dealer. 
- i 

! 

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Index 

INDEX ••••.••••••••••••••••••••••••••••••••.••••••...••••.••••••••••••••••••••••••••••.....••.••••••••••••••••••••••••••••••••••••••...••••••••••.••••••••••••••• 2 

INSTRUCTION •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 3 

DISCLAIMER & WARNING ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 3 

TRADEMARK .......................................................................................................................................................... 4 

SYMBOL INSTRUCTION ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 4 

ASSEMBLY & CONNECTION ....................................................................................................................... s 

STEP1 PORT DESCRIPTION •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 5 

STEP2 AsSEMBLY & CONNEcnON •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 6 

ASSISTANT SOFTWARE INSTALLATION AND CONFIGURATION •••••••••••••••••••••••••••••••••••••.•.••••••••••••••••••••• 7 

STEP1 SOFTWARE AND DRIVER INSTALLATION ON A PC •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 7 

STEP2 CONFIGURATION BY AsSISTANT SOFTWARE ON A PC ............................................................................................. 7 

BASIC FLYING .............................................................................................................................................. 9 

CONTROL MODE KNOWLEDGE •••••••••••••••••.•••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 9· 

START & STOP MOTOR KNOWLEDGE •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 9 

STEP1 COMPASS CALIBRATION •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 11 

STEP2 ASSEMBLY CHECKING LIST ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 12 

STEP3 BEFORE FLIGHT ••••••••••••••••••••••••••••••••••••••••••••.•••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••.•••••••••••••••••••• 12 

STEP4 FLYING TEST ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 13 

ADVANCED FUNCTIONS .......................................................................................................................... lS 

A1 FAilSAFE •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 15 

A2 LOW-VOLTAGE ALERT •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••.••••••••••••••••••••••••.•••••••••••••••••••••••••••••••••••• 16 

A31NTELLIGENT ORIENTATION CONTROL (IOC) FLIGHT (WITH GPS MODULE) .................................................................. 17 

A4 RECEIVER ADVANCED PROTECTION FUNCTION ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••.•••••••••••••••••••••••••••••••••••• 20 

APPENDIX •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 21 

SPECIFICATIONS ••••••••••••••••.••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 21 

MC/PMU FIRMWARE UPGRADE ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 22 

LED DESCRIPTION •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 23 

INSTRUCTION OF Vl (ALSO KNOWN AS NAZA-M) •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 24 

V1 AsSEMBlY AND CONNEcnON ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 24 

V11S COMPATIBLE WITH THE PMU V2 (ACCESSORY OF NAZA-M V2) ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 24 

V1 PORT DESCRIPTION •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 25 

V1 SPEOFICATION •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 26 

FAQ ••••••••••••••••••••••••••••••••..•••••••••••.•••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 27 

ABNORMAL LED INDICATION LIST •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 27 

FIX THE TBE (TOILET BOWl EFFECT) PROBLEM ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 27 

SHOULD YOU FIND THE MULTI-ROTOR DOES NOT TRACK STRAIGHT IN FORWARD FLIGHT ....................................................... 28 

MOTORS START FAilURE CAUSED BY TX STICK(S) MID POINT ERROR TOO BIG ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 28 
J 

j 

Instruction 

Disclaimer & Warning 

Please read this disclaimer carefully before using the product. By using this product, you hereby 

agree to this disclaimer and signify that you have read them fully. THIS PRODUCT IS NOT 

SIIIT ARI I= !=OR PI=OPI I= IIN[)!=R TI-ll= Al,l= 01= lR 

This product is an autopilot system designed for serious multi-rotor enthusiasts providing excellent self-leveling and 

altitude holding, which completely takes the stress out of flying RC multi-rotors for both professional and hobby 

applications. Despite the system having a built-in autopilot system and our efforts in making the operation of the 

controller as safe as possible when the main power battery is connected, we strongly recommend users to remove 

all propellers when calibrating and setting parameters. Make sure all connections are good, and keep children and 

animals away during firmware upgrade, system calibration and parameter setup. DJI Innovations accepts no liability 

for damage(s) or injuries incurred directly or indirectly from the use of this product in the following conditions: 

1. 

2. 

3. 

4. 

5. 

6. 

7. 

8. 

9. 

Damage(s) or injuries incurred when users are drunk, taking drugs, drug anesthesia, dizziness, fatigue, nausea 

and any other conditions no matter physically or mentally that could impair your ability. 

Damage(s) or injuries caused by subjective intentional operations. Any mental damage compensation caused 

by accident. 

Failure to follow the guidance of the manual to assemble or operate. 

Malfunctions caused by refit or replacement with non-DJI accessories and parts. 

Damage(s) or injuries caused by using third party products or fake DJI products. 

Damage(s) or injuries caused by mis-operation or subjective mis-judgment. 

Damage(s) or injuries caused by mechanical failures due to erosion, aging. 

Damage(s) or injuries caused by continued flying after low voltage protection alarm is triggered. 

Damage(s) or injuries caused by knowingly flying the aircraft in abnormal condition (such as water, oil, soil, 

sand and other unknown material ingress into the aircraft or the assembly is not completed, the main 

components have obvious faults, obvious defect or missing accessories). 

10. Damage(s) or injuries caused by flying in the following situations such as the aircraft in magnetic interference 

area, radio interference area, government regulated no-fly zones or the pilot is in backlight, blocked, fuzzy 

sight, and poor eyesight is not suitable for operating and other conditions not suitable for operating. 

11. Damage(s) or injuries caused by using in bad weather, such as a rainy day or windy (more than moderate 

breeze), snow, hail, lightning, tornadoes, hurricanes etc. 

12. Damage(s) or injuries caused when the aircraft is in the following situations: collision, fire, explosion, floods, 

tsunamis, subsidence, ice trapped, avalanche, debris flow, landslide, earthquake, etc. 

13. Damage(s) or injuries caused by infringement such as any data, audio or video material recorded by the use of 

aircraft. 

14. Damage(s) or injuries caused by the misuse of the battery, protection circuit, RC model and battery chargers. 

15. Other losses that are not covered by the scope of OJ I Innovations liability. 

e2013 DJIInnovations. All Rights Reserved. 3 I 
Trademark 

DJI and Naza-M are registered trademarks of DJI Innovations. Names of product, brand, etc., appearing in this 

manual are trademarks or registered trademarks of their respective owner companies. This product and manual are 

copyrighted by DJI Innovations with all rights reserved. No part of this product or manual shall be reproduced in 

any form without the prior written consent or authorization of DJI Innovations. No patent liability is assumed with 

respect to the use of the product or information contained herein. 

Symbol Instruction 

0 Forbidden(lmportant) Cautions Tip Reference 

c2013 OJ I Innovations. All Rights Reserved. 4 I 
l 

J 

J 

Assembly & Connection 

In the Box: 

Main controller Xl, PMU Xl, GPS Xl, GPS Bracket Xl, LED Xl, Servo Cable XS, Micro-USB Cable Xl, CAN Cable Xl, 

3M Adhesive Tape. 

Step! Port Description 

Main Controller 

LED 

•Esc: Electronic Speed Controller 

Main Controller 

V-SEN; Connect to Main Controller X3Port PMU 

&~~~~~~~~m=:the (Power Management Unit) 

instantcurrentis7.5A lfPMUcannotafford 1-----------. the working current for your servos, please 

use an independent power supply; otherwise, 

it may cause the PMU safeguard and lead to 

the main controller reboot. 

Connect to Main Controller LED port 

Micro-USB: PC connection 

for parameter configuration 

and fimtware upgrade 

Pointing to the aircraft nose direction 

Connect to GPS port of PMU 

GPS/Compass 

e2013 DJIInnovations. All Rights Reserved 5 I 
I 

. J 

Step2 Assembly & Connection 

Step1 Prepare an aircraft, supported the following Mixed Types. 

The direction of tile arrow in diagram indicates the rotation direction of the motor/propeller. 

Important: To coaxial propellers: Blc8 propeller is at TOP; Red propeller is at Bottom. Othe!wise all propellers are at top 

M2 

(;i·'-~~~L • <··,, 

.. ,' 

,_,/J;t3 

Quad-rotor I Quad-rotor X 

Ml 

'~~:=c 

1 .. .0. c(~.' ·~-. 'M3 "-/ M4 

Octo-rotor X 

M2 :T"M1 -~ ,cj:~<' 

:,~ 

Hexa-rotor IY 

ESC & MC Connection 

Aircraft Main controller 

M1-M1 

M2-M2 

M3-M3 

M4--- M4 

M5 --- M5 M6-M6 

M7-F1 

M8 F2 

Main Controller(MC) ESCS & Motors 

Mount : (1 }The DJI logo should face the sky, DO Please use the ESCs and motors recommended by the manufacturer 

NOT mount the MC upside-down. (2)The MC sides of your aircraft We recommend you use DJI motors and ESCs (Refer 

should be parallel to the aircraft body. (3}The arrow to its manual for details}. Connect all ESCs to MC by the motor 

should point to the nose direction of aircraft. (4}he numbering method introduced in mixed types Supported. 

MC is best positioned near the aircraft's center of Important: If you use 3rd party ESCs. make sure the ESCs travel 

gravity. Make sure all ports are accessible. midpoint is at 1520us. DO NOT use 700us travel midpoint ESC. as it 

Tip: It is recommended to fix the MC until all mayleadaircrafttoflyawayorcauseinjuryanddamage.AfterESCs 

wirings and configurations are completed, using 3M connection • calibrate ESCs one by one through the receiver directly 

t..=:gu::m:::::med:=..!:P::a!:per:::..!pro::.:.VI:;.d::ed:.::..t=o...:fi::.:x...:the::::..M:::.::C~. -----l I before connect them to your MC, Make sure program all of them into 

Governor oft, Break oft and Normal Start up to get best experience. 

S-Bus/PPM Receiver 

Transmitter(TX) & Receiver(RX) 

( 1 }Refer to you TX Manual, setup the I r---===-:--:-------, Aileron, Elevator, Throttle, Rudder 

channels on your TX first and choose a 3-

position switch as control mode switch. 

(2}Attach the matched RX to aircraft, then 

connect your RX to the right ports on MC. 

The following diagram shows the 

connection example for traditional RX. 

~-

i (JR) 

' 

Step3 Double Check 

Mount : DO NOT attach the PMU on 

other device. Sufficient air flow over 

the PMU is highly recommended. 

Tip : If use with DJI multi-rotor, you 

can solder the power cable to power 

pads on frame bottom board. Please 

refer to DJI multi-rotor manual for 

details. If use with 3rd part aircraft, 

you can make a connecter by 

connect PMU and battery. 

LED Module 

Mount : Make sure You can see the 

light during the flight leave the USB 

interface to be accessible. Use the 

3M gummed paper provided to fix. 

Gimbal 

Connect the gimbal servos to 

the ports of F 1 and F2 if a 

gimbal is used, and use the 

software for configurations. 

Mount : GPS/Compass is sensitive to 

magnetic interference, should be far 

away from any electronic devices. If 

you use your own mounting rod, 

make sure tt is NOT magnetic! 

Procedures : 

(1}You should use epoxy resin AB 

glue to assemble the GPS bracket 

first Mount the bracket on the center 

plate of craft. Position the bracket at 

least 10 em from any propeller. 

(2}The DJI logo marked on the GPS 

should face the sky, with the 

orientation arrow pointing directly 

foJWard. then fix the GPS on the plate 

of the bracket (by 3M glue provided}. 

Tip : The GPS/Compass is packaged 

with a indication line for 

In this S!el>, tum on the transmitter, connect the battery to the PMU, and then watch the lED, if you can see the LED blinks <••o••o••o••••}, the system is working • 

.:>2013 OJ! Innovations. All Rights Reserved. 6 I 
-, 

! 

J 

Assistant Software Installation and Configuration 

§!~P! Sf:!.ftwar~ a'!.._t!_/?ri~t!J:Jnstf!/!!.!it?_'L'!.'L!!.f!~ . ~~~---~-.. -~--~-·····-·~,~~~·-~·~"··-~--·~~ l 1. Please download the drive installer and the assistant software installer from DJI website j ! 1 "www.dji-innovations.com", l by selecting the Download web page of corresponding product. 1 

I I 2. Switch on the transmitter first, and then power on the autopilot system. 

3. Connect the autopilot system and the PC via a Micro-USB cable, and power on the autopilot system. I 

4. Run the driver installer, and follow the instructions strictly to finish installation. I , 

, I ! 5. Run the assistant software installer, and follow the instructions strictly to finish installation. l r~--~.,._·--=••co- "'"""==-,..-=c·r.=.-~ .... -..=>J>-..,<=">~~=,_,~=·-~-""-'-"'"'"·~-"£=,=---·..-..,..-....--~-~~~--~~=-~·"~""""~~~=-··=--~ .... --~~=~~~-,._ ....... ~ ... ..-<-C.·~=~---....,._~,~--. ~-~=--""'"""··=-=c"'~"~=~~....-~ 

Stt:;e~ Ct;!!!(!Jl.Ur:.<?tionf!lA~sis!_ant__§_oftwar:.l!~t:?!!...!!!!£ ___ . __________ ~-'"·-···-·-··

j 1. Power on the PC. Make sure your computer is connected to the Internet for the 1 first time you use. 

i i 2. 

! 

Switch on the transmitter first, and then power on the autopilot system. Connect the autopilot system to 

I the PC with a Micro-USB cable. DO NOT break the connection until setup is finished. I 

I 3. Run the Assistant Software. 

Observe the indicators on the left bottom of the software. ( •• They are the connection indicator and 4. 

communication indicator in order.) If the communication indicator is blinking, that the software is ready, 

please go to next step. 

5. Select the "Info" option. Check the software firmware version. If the upgrade is available, you may update 

the assistant software. 

6. Select the "Upgrade" option. Check the Main Controller, GPS and IMU firmware version. 

7. Select the "Basic" option. Please follow step-by-step for your first-time-configuration. Basic configuration 

is necessary, including Mixer Type, Mounting, RC, and Gain settings. 

8. You can click the "Advanced" option for more parameter settings. Advanced setting is optional. There are 

settings of Motor, FailSafe, Intelligent Orientation Control (IOC), Gimbal, Low-Voltage Alert, and Flight 

Limits. Read the instruction in the assistant software to obtain more details. 

9. Select the "Viewer" option to check all parameters. 

1 10. Then break the Micro-USB cable, power off the aircraft. Finished. 

'---·--~------------~-·-----

(I) 

(2) 

l .. (3) 

(4) 

(l) 

~ (2) 

You may be required to fill register information for your first-time-usage. 

If the communication indicator is blue on, please double check the connections. 

Basic configuration is necessary before you go to the "Basic Flying Test" . 

Users are required to install a Windows system, since the software can only run on Windows 

system. 

If the firmware upgrade is available, please upgrade it by referring to the Firmware Upgrade 

in the Appendix. 

This step is required to use together with the assistant software to obtain more details. 

©2013 DJI Innovations. All Rights Reserved. 7 I 
Recommended Parameters 

Recommended Settings for using F330/F450/F550 

Configuration lnfonnation Basic Gain Attitude Gain --

I 

I Motor ESC Propeller Battery Weight Pitch Roll Yaw Vertical Pitch Roll 

F330 DJI-2212 DJI-18A DJI-Binch 35-2200 790g 140 140 100 110 140 140 

F450 DJI-2212 DJI-30A DJI-Binch 35-2200 890g 150 150 100 105 150 150 

F550 DJI-2212 DJI-30A DJI-81nch 45-3300 1530g 170 170 150 140 170 

l 

c2013 OJ I Innovations. All Rights Reserved. 8 I 
! 

Basic Flying 

Control Mode Knowledge 

Please read the Control Mode Knowledge clearly before usage, to know how to control the aircraft. 

Different control modes will give you different flight performances. Please make sure you understand the features 

and differences of the three control modes. 

~~·-·····~·••·-~~~·~·-··_,,.-,,.,,,,_,._,,,,,, ··-"'"'•~••;·~·~•m• .... -•••·••·. ~~ '"-- "~·~'-'·'T'~••··-··•··~····'"~'••••~·-~~·~"''i j · GPS A TTl. Mode ' l 

A TTl. Mode Manual Mode I l : ( With GPS Module ) i : 1 , ............................... , ....................................................................................................................................... ., ....... 1 

! Rudder Angular i \ I i Maximum rudder angular velocity is 150• /s 1 Velocity : : 1 t······-•"·--------.. ··---i"''"'" ................................................................................... -·· ......................................................... i 

1 Command ' YES I I linearity }--·--¥>------···----··------..,.--- ""~·~··--« '-----~-------.~------ "~- -·--·· - ~----~-- ··----" ---------------------~-----. 

! -~--------------------·----- ----'--- ----.. ·--------$ ! : Max-angular velocity is Jso· /s. I i Command Stick Multi attitude control; Stick center position foro· l i 

Meaning No attitude angle limitation j attitude, its endpoint is 35•. , 

L-----·-------·-----·-··------ _ ) _____ ----.. -------------··-------.. --- ------------·------------- ··------ ---~-------------·- l_ -~~d ~~~~~~~ _:o:el~<:~ty_!~-~~i~!?: ____ .! 

}---~---~------· 

Altitude ---

Lock "--~----r--

: -

Maintain 

----- ---~-----------

the altitude best above 1 meter from ground. : NO j -------------,-- ------- ---- ------~---------~- ·----r··-------------------··-----~--~-----··-----··---1 

Lock position if GPS signal i ! , Stick Released 

! i Only attitude stabilizing. ! NOT Recommend ! 

L .... ·------·· ---1 --~~~~~:~~~;:~:;:~~-~~~-+-;~~-~~~~~~i~~-~~i~~~~+- ................... -· -- . .. ----........ i 

GPS Lost lost for 3s, system enters stabilizing without I ..... --- ...... ------1---~~~~~!::'.'?.~".-~~-t_e>."'.~!!~<:I!Y: ..... L ........ l'~~~!i()_':I_~C>.':~: ........... ~----· ..................... --- ..................... .J 

I 

I I Enhanced Faii-Safe(Position l Auto Level Fail-Safe Depends on experience. ~ 

L .... ~~~~~;;~:~~i~~~~~~~~:-~~~~~~!~~:~::;!~:~~~~~~~~-~~~-:;~~-~;;~;;~~~~~~-~~ ~~-~~~~~- .. ~ Safety 

Mode (including GPS Mode, A TTL Mode, Manual Mode and IOC Mode), the aircraft will l 

. 1 i I enter the failsafe Mode. r --· ................. --------:-.. ------------------· ------------- ---; -- i .. -----------------........ -... -......... ·:------------_____ .............................. -1 L~PEtion::_~~L_ _____ ~!-~----··---~----- s~~~___j_ _______ .. _-___ ~---J 

Start & Stop Motor Knowledge 

J_. Q--(1-)--- Bo~h lm,;:;;-ately ;:;::;:-:~1":;~~:-availab:~ the Ass:::;;-;-;~:::-1 J.~ l 

~-- Please 

.. -~~~!.~-;~~v:~::~-~~;~:Si: get to know well 

:e:::l:~ .. ~~~~e_?iatelr_~~=:- •. - .... --·~-------~~-.. ~~~~---J about this section before flying. 

Start Motor: Pushing throttle stick before takeoff will not start the motors. You have to execute any one of 

following four Combination Stick Commands (CSC) to start the motors: 

<>2013 DJI Innovations. All Rights Reserved. 9 I 
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! 

2 Stop Motor: We provide two options to stop motors in the assistant software: Immediately and Intelligent. 

(1} Immediately Mode: If you select this mode, in any control mode, once motors start and throttle stick is 

over 10%, motors will not stop immediately only when throttle stick is back under 10% the motors will 

stop. In this case, if you push the throttle stick over 10% within 5 seconds after motors stop, motors 

will re-start, CSC is not needed. If you don 't push throttle stick after motors start in three seconds, 

motors will stop automatically. 

(2) Intelligent Mode: By using this mode, different control mode has different way of stopping motors. In 

Manual Mode, only executing CSC can stop motors. In A TTl. Mode or GPS A TTl. Mode, any one of 

following four cases will stop motors: 

a) You don't push throttle stick after motors start within three seconds; 

b) Executing CSC; 

c) Throttle stick under 10%, and after landing for more than 3 seconds. 

d) If the angle of multi-rotor is over 70•, and throttle stick under 10%. 

~otes «?Lintelli,g,~~-~~.!-~-~~--~--____ -~-~~---~-~----~-~---~--~-----~-~~ 1 (l) In A TTl. I GPS A TTl. Mode, it 1 has landing judgment, which will stop motors. ! 

I (2) Start motors in A TTl. I GPS A TTl. Mode, you have to execute esc and then push throttle stick i ~ 

! 

! 

I I 

l 

~ 

(3) 

(4) 

over 10% in 3 seconds, otherwise motors will stop after 3 seconds. 

During normal flight, only pull throttle stick under 10% will not stop motors in any control mode. 

For safety reason, when the slope angle of multi-rotor is over 70• during the flight in A TTl. I 

GPS A TTl. Mode (may be caused by collision, motor and ESC error or propeller broken down), l I and throttle stick is under 10%, motors will stop automatically. 1

1 

"'-~~....._-.....-.~~-~"''"--~--~~--=-·.,...~-----.~----..,.,.~~=-"""'-~~--=r~~-.-=-=--=~·===,...,....._~~-~-o~-..-

N f oteso I nte II' 11gent M d 0 e & I mme d. 1a t ely_ I M 0 d e 

0 (l) If you choose the Immediately Mode, you should not pull throttle stick under 10% during flight. 

because it will stop motors. If you do it accidentally, you should push the throttle stick over 10% in 

5s to re-start motors. 

(2) DO NOT execute the CSC during normal flight without any reason, or it will stop motors at once. 

(l) If you choose the Intelligent mode, and the throttle stick is under 10%, this will trigger the landing 

:"'! • Procedure, in any control mode. In this judgment, pitch, roll and yaw controls are denied except 

the throttle, but multi-rotor will still auto level. 

(2) In any control mode, DO NOT pull throttle stick under 10% during normal flight without any 

reason. 

(l) Any of these two cut off types will only work properly if TX calibration is correct done. 

(2) In failed-safe, CSC is denied by the main controller, motors will hold their state. 

e;.2013 DJI Innovations. All Rights Reserved. 1 0 I 
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Step/ Compass Calibration 

Without GPS module, please skip this step. If you use with GPS module, follow step-by-step for calibration. 

(1) DO NOT calibrate your compass where there is magnetic interference, such as magnetite, car 

park, and steel reinforcement under the ground. 

0 (2) DO NOT carry ferromagnetic materials with you during calibration, such as keys or cell phones. 

(3) Compass module CANNOT work in the polar circle. 

(4) Compass Calibration is very important, otherwise the system will work abnormal. 

Calibration Procedures 

1. 

2. 

3. 

Switch on the transmitter, and then power on autopilot system! 

Quickly switch the control mode switch from Manual Mode to GPS Am Mode and back to Manual 

Mode for 6 to 10 times, The LED indicator will turn on constantly yellow. 

(Fig.l) Hold your Multi-rotor horizontal and rotate it around the gravitational force line (about 360°) until 

the LED changes to constant green, and then go to the next step. 

4. (Fig.2)Hold your Multi-rotor vertically and rotate it (its nose is downward) around the gravitational force 

line (about 360°) until the LED turns off, meaning the calibration is finished. 

Fig.l Fig.2 

5. If the calibration was successful, calibration mode will exit automatically. If the LED keeps flashing quickly 

Red, the calibration has failed. Switch the control mode switch one time to cancel the calibration, and 

then re-start from 2. 

1. When the GPS is abnormal, the Main controller will tell you by the LED blinking Red and Yell ow 

alternately ([l••c:::::J~. disable the GPS Module, and automatically enter the aircraft into the 

ATII.Mode. 

2. You don't need to rotate your multi-rotor on a precise horizontal or vertical surface, but keep at 

least 45• difference between horizontal and vertical calibration. 

3. If you keep having calibration failure, it might suggest that there is very strong magnetic 

interference around the GPS /Compass module, please avoid flying in this area. 

4. When to do re-calibration 

(1) The flight field is changed. 

(2) When the multi-rotor mechanical setup has changed: 

a) If the GPS/Compass module is re-positioned. 

b) If electronic devices are added/removed/ re-positioned (Main Controller, servos, batteries, etc.). 

c) When the mechanical structure of the multi-rotor is changed. 

(3) If the flight direction appears to be shifting (meaning the multi-rotor doesn't "fly straight"). 

(4) The LED indicator often indicates abnormality blinking when the multi-rotor spins. (It is normal 

for this to 

e2013 DJIInnovations. All Rights Reserved. 11 I 
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Step2 Assembly Checking List 

Please check each item, to make sure for safety. 

Any of the following mistakes will lead to a dangerous accident, double check all these items: 

(l} Rotation direction of motor is opposite 

(2) Infirm connection between the motor and the ESC 

0 (3) Wrong or infirm installation of Main controller 

(4) Wrong or infirm connection between the main controller and ESC. 

(5) Propeller installation mistake 

(6) Magnetization of the compass 

Make sure the following items are correct. 

0) Make sure you have assembled your multi-rotor correctly. 

(2) Make sure you have done the configuration procedure correctly. 

(3) Make sure all connections are in good condition. 

(4) Make sure batteries are fully charged for your transmitter, autopilot system and all devices. 

Step3 Before Flight 

Carry out the following procedures (is based on Intelligent Mode of Motor Stop) to make sure all 

configurations are correct. Refer to the Appendix->LED Description for more LED details. 

1. Always switch on the transmitter first, then power on multi-rotor! 

2. Keep the aircraft stationary until the system start and self-check has finished <••o••oet~oe•••). 

After that, the LED may blink Yellow 4 times quickly (0000). Start motor is disable during LED blinking 

Yellow 4 times quickly (0000 ), as the system is warming up. 

3. After the 4 times Yellow LED disappears, toggle the control mode switch on your transmitter to make sure it 

is working properly. For example, LED blinks (0 ... ), which means the system is in A TTl. Mode and the 

GPS signal is worst Check it with LED indicator to specify the current working mode for MC. See following 

table for details about LED indicator; 

(l) There are Manual Mode and A TTl. Mode without a GPS/Compass module, no GPS signal status LED 

indicator. 

(2) After connecting to the GPS/Compass module, GPS A TTl. Mode is available, and GPS signal status 

LED indicator is available. 

Control Mode LED Indicator 

Manual Mode: NO LED 

A TTl. Mode: 0 ( 00 indicates that is stick(s) not at center) 

GPS Mode: 8 (88 indicates that is stick(s) not at center) 

«:>2013 DJI Innovations. All Rights Reserved. 12 f 

GPS Signal Status LED Indicator 

Signal is best (GPS satellites> 6): NO LED 

Signal is well (GPS satellites= 6) : • 

Signal is bad(GPS satellites= 5): " 

Signal is worst (GPS satellites< 5) ,••• 
4. Keep the aircraft stationary, and then push both sticks to the left bottom or right bottom (shown as the 

following chart, defined as Combination Stick Commands (CSC)), to start the motors. 

5. Release the yaw, roll and pitch sticks and keep them at the mid point, and the throttle stick under the mid 

point. Then check whether all propellers are rotating correctly. 

6. Stop motors, power off the Multi-rotor. 

7. Make sure all settings and configurations are correct and then you can take off you aircraft. 

After power on, if abnormal LED Indicator occurs, please refer to the Abnormal LED instruction in the FAQ and 

aids troubleshooting. 

Ste,4 Flying Test 

r~~~=:~without ~:;;::;;~::;:::flying fi~~::-;.;-:::ft 3 l 

' meters away from you and others, to avoid accidental injury. l 

2. If in GPS A TTl. ModSe, place the aircraft i(n an oLEpe

0

n space without buildings o)r

1

treesM. Take oMff the airAcrTaTft

1 

I 

after 6 or more GP satellites are found Red blinks once or no blinking . f in anual ode or . l 

Mode, you can skip this step. I 

3. Start-up 

(I) Switch on the transmitter first, then power on multi-rotor! Keep the aircraft stationary until the 

system start and self-check has finished. 

(2) Please wait for the system to warm up gradually with the LED blinks Yellow 4 times quickly 

(0000). You should not start the motors until the blinking disappears. 

(3) Keep the aircraft stationary, and execute the CSC to start the motors. 

(4) Release the yaw, roll and pitch sticks and keep them at the mid point, at the same time raise the 

throttle stick from the bottom. The motors will stop if you do not push the throttle stick from the 

bottom within 3 sec and you will need to re-start the motors. 

(5) Keep raising the throttle stick until all the rotors are working, push the throttle stick to the mid point 

and then take-off your multi-rotor gently, pay attention not to push the stick excessively. 

(6) Pay attention to the aircraft movement at any time when flying, and use the sticks to adjust the 

aircraft's position. Keep the yaw, roll, pitch and throttle sticks at the mid point to hover the aircraft i 

I at the desired height. ! 

I 4. Lower the aircraft slowly. Pull the throttle stick to the bottom and then execute the CSC to stop the motors i 

I , after landing. I I 5. Please always power off the Multi-rotor first, and then switch off the transmitter after landing. I /-,"=~j-,..,-JJ-"',_._-.,.-~~~-"~-.,. -.~_,J,~~~=~•~~="-""'~~·-~==---~~~~~~-·=~n~-.r . ..,.,.~=----~-~=·~~~~-==--""·'~~--=~=-G~=-~"-=~~~--.~~==~><=~.,."~"""-"'-'-=""'·'"~~ 

©2013 DJI Innovations. All Rights Reserved. 13 I 
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FLYING NOTES(VERY IMPORT ANT) ! ! ! 

(1) 

(2) 

(3) 

0 (4) 

(5) 

(6) 

(7) 

(8) 

(1) 

If you enable the Immediately Mode of Motor Stop; you should not pull throttle stick under 10% 

during flight, because it will stop motors. If you do it accidentally, you should push the throttle 

stick over 10% in Ss to re-start motors. 

DO NOT execute the CSC during normal flight without any reason, or it will stop motors at once. 

Pay attention to the GPS satellite status LED indicator. Bad GPS signal may lead the aircraft to 

drift when hovering. 

DO NOT fly near to ferromagnetic substances, to avoid strong magnetic interference with the 

GPS. 

Please avoid using GPS A TIL Mode in the areas, where GPS signal is most likely bad. 

If the LED flashes quickly Red then this indicates battery voltage is low, land ASAP. 

If the transmitter indicates low-battery alarm, please land ASAP. In this condition the transmitter 

may cause the aircraft to go out of control or even crash. 

In GPS A Til. Mode, make sure that the home point is recorded when the GPS signal is well; 

otherwise the home point recording may be not so precise. 

In A Til Mode, throttle stick center position is for Om/ s along the vertical direction. You should 

keep the position of throttle stick higher than 10% from cut-throttle during the flight! In any 

control mode, DO NOT pull throttle stick under 10% during normal flight without any reason. 

(2) It is recommended to land the aircraft slowly, to prevent the aircraft from damage when landing. 

(3) If Low-Voltage Alarm is set, the aircraft will act according to the configuration of the Assistant 

Software once Low-Voltage Alarm is triggered. Make sure you remember what you have set 

before. 

(4) If Fail-Safe function is set, the aircraft will act according to the configuration of the Assistant 

Software once Fail-Safe is triggered. Make sure you remember what you have set before. 

C>2013 DJI Innovations. All Rights Reserved. 14 f 
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I 

! 

-" 

Advanced Functions 

AI FailSafe 

An introduction of Go-Home and Landing. 

stay hover 

Signal lost A 

Home-point: Before takeoff, current position of multi-rotor will be saved as home-point by MC automatically when 

you start the motors for the first time after 6 or more GPS satellites are found (red light blinks once or no blinking) 

for 10 seconds. 

1. Please make sure to record the home-point before takeoff, and clearly know where it is. 

Note 2. During go-home the nose direction of the aircraft is facing toward the home-point, the aircraft is 

flying directly from the current position to the home-point. 

3. You can regain the control during the aircraft is hovering 15 seconds. 

The flowchart of failsafe and how to regain control 

This section will demonstrate the working logic of failsafe and how to regain control. '- ,_;_;t;;;(t;i99~~ct-i~~~;;t.;l 

The following description is effective only when: ·, .. · .. . i 

1. The aircraft is in flight. · 

2. The GPS works normally and signal is good (l! 6 satellite, the LED blinks a single:__ How to regain control 

red light or no red light). - Precautions 

----- ... 

·Attitude Mode: (1) the aircraft will level its attitude 

:immediately (2) 3 seconds later, failsafe is triggered and ~ .,._aircraft will start to go home. (3) If signal is regained during 

· (1) or (2), it will resume nonmal flight immediately. --; 

: GPS Mode: (1) the aircraft will slow down and hover. (2) if 

· >- the signal is restored within 3 seconds (TX and receiver 

: connected), the system will immediately return to normal 

operation; does not enter failsafe. (3) if not reconnected 

within 3sec, the system will enter failsafe, then even if the 1 signal is restored, the system will not exit failsafe. 

Attitude Mode: In Attitude Mode as 

soon as you get signal you can 

regain control. 

\ GPS Mode: switch the TX mode J switch to A TIT, if the receiver is 

·· 'll connected, then you will regain 

control. 

--· ---- ··-··------ --·- ------------ -- -·- ------· .. ·-·-· 

'iii this CaSe, the behavior ot"the aircraft is the same as in I If you choose to tum off the TX, (2)Tum off the I TX :the above condition. 1 you must be pretty sure that you (we assume l>- If you want the aircraft to Return Home, please do not tum -- know how to regain control. Here you want to t· 

trigger failsafe) i :the TX back on within 3 secondS*, otherwise the aircraft we offer a method, please read 

will exit failsafe mode imlll(!diately. _ _ .. _ _ _ 1 carefully. 

... We strongly recommend you DO NOT try this, because there are three When you tum off the TX, use the following types of risk: method to regain control: (1) You must be pretty clear whether the Home-point is OK for landing or (1) Switch the TX switch to GPS. not. (You have to understand the definition of Home-point well and the (2) and then put throttie to the center working process of failsafe) position(greater than 3sec after switching off, (2) If there are tall buildings around, the aircraft may be obstructed on the important), you can now tum the TX back on. way. (3) then you can switch the TX Control mode (3) When GPS signal is bad or GPS is not working, failsafe will not work switch to Am to regain controL 

Note: if you start the motors, but do not push the throttie to take-off the aircraft, in this case it is very dangerous to tum 

off the TX, because the aircraft will take off automatically, so do not try this. 

* If signal lost for more than 3 seconds failsafe will be triggered, if signal regained within 3 seconds it will exit failsafe immediately. 

4:>2013 DJI Innovations. All Rights Reserved. 15 I 

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A2 Low- Voltage Alert 

In order to prevent your multi-rotor from a crash or other harmful consequences caused by low battery voltage, 

there are two levels of low voltage protection available to use. You can choose to use or not to use them; however 

we strongly recommend using the protections if available! Low-Voltage Alert is to indicate that the battery cannot 

provide enough power for the aircraft, in order to warn you to land the aircraft ASAP. You can configure this 

function in the assistant software, and please read the text in the software carefully before your flight. Make sure to 

carry out the Current Voltage Calibration. 

There are both first level and second level protections. The first level protection has LED warning. During second 

level protection the aircraft will land automatically with LED warning. Meanwhile the center point of throttle stick 

will move up slowly to 90% of endpoint, you should land ASAP to prevent your aircraft from crashing! 

It is not for fun, you should land your aircraft ASAP to prevent your aircraft from crashing or other harmful 

consequences!!! 

Configure the FailSafe function in the assistant software -• • Advanced• -• "F /S" and read the 

instruction thoroughly and carefully. 

(2) Configure the Low-Voltage Alert function in the assistant software -• "Advanced• ·> "Voltage" 

and read the instruction thoroughly and carefully. 

e2013 DJI Innovations. All Rights Reserved. 16 I 
A3 Intelligent Orientation Control (IOC) Flight (with GPS module) 

Definition of Forward Direction: 

Multi -rotor will fly along this direction when you push the elevator stick(-..). 

SteplBefore You Start 

Usually, the forward direction of a flying multi-rotor is the same as the nose direction. By using IOC, wherever the 

nose points, the forward direction has nothing to do with nose direction. The red and blue arrows on the transmitter 

are corresponding to pitch and roll operations in the following diagram. 

• In course lock flying, the forward direction is the same as a recorded nose direction. All the following 

requirements are met: the autopilot system is in A TTl. Mode or GPS A TTl. Mode. 

Normal flying Course Lock Flying 

• In home lock flying, the forward direction is the same as the direction from home point to multi-rotor. All the 

following requirements are met: 6 or more GPS satellites are found, in GPS A TTl. Mode, and the aircraft is 

further than 10m away from the home point. 

'7 

~~ 

•Home 

Normal flying Home Lock Flying 

Step2JOC Switch Setting 

Before using the IOC function, you have to choose a 3-position switch on your transmitter as the IOC switch, which 

is also used for recording the orientation, home position in corresponding modes. Refer to the assistant software; 

click the "Advanced" to find the "IOC". 

IOCSwitch 

IOC Function 

:~ ,V!!!) / ... _ ... 

OFF 

{~ ,\Y} 

'--~ 

Course Lock Home Lock 

The above table is for example. The function of the switch position may be reversed since 

normal/reversed setting of the switch channel. Toggle the switch and observe the slider position of 

channel X2 on the assistant software screen, the corresponding area should turn blue. 

Q2013 DJI Innovations. All Rights Reserved. 17 J 
Step3Method of Forward Direction and Home Point Recording 

If you use the IOC function, please be aware of the Forward Direction of Course Lock Flying, and the home point of 

Home Lock Flying. There are two ways to record the forward direction and the home point: Manually and 

Automatically. You may choose any one record method. The LED will blink Green quickly if successfully recorded. 

Manually 

Course Lock 

30 seconds after you power on the 

autopilot system. 

30 seconds after you power on the 

autopilot system. Toggle the IOC switch 

from Off to Course Lock, and back to Off 

.. ':l~~~klt~~C: 5 times. 

will be saved as home point when you start the 

motors for the first time after 6 or more GPS 

satellites have been found for 10 seconds. 

After 6 or more GPS satellites have been found. 

And the aircraft can be hovering. Toggle the IOC 

switch from Course Lock to Home Lock, and back 

to Course Lock quickly 3 to 5 times. - -··-----------------------··--------------··. 

DO NOT toggle the switch between Off to Home Lock, since it may change the recording of the 

Forward Direction of Course Lock. 

Step4IOC Flying Test 

Then you can do Course Lock and Home Lock flying test. 

Carry out an IOC flight by the following procedure. The Control Mode LED will blink Yellow and Green 

alternatively (0.) to indicate the IOC mode only when the main controller is really to fly in Course Lock, Home 

Lock modes. 

During the 

STEPl: Record same flight 

Course Lock 

t 

~~ 

Switch Setting Forward 

Direction 

Record the 

Home Point 

STEP2:0N 

~t ',\ 

Set Control Mode switch at 

GPS or A TTl. position, 

Toggle IOC switch from OFF 

Set Control Mode switch at 

GPS position, 

Toggle IOC switch from OFF 

to Home Lock 

~ Aircraft moving direction when pull pitch stick 

STEP3:0FF 

71: , 

, 

' 

Toggle IOC switch 

to OFF position 

• * 

Toggle IOC switch 

to OFF position 

•Home point > Aircraft ( the arrow is pointing to the direction of the aircraft nose ) 

e2013 OJ I Innovations. All Rights Reserved. 18 I 

STEP4: ON again 

~i • 

Toggle IOC switch 

from OFF to Course 

Lock position 

• 

Toggle IOC switch 

from OFF to Home 

Lock position 
IOC FL VING NOTES ! ! ! 

0 

f 

(l) When Multi-rotor is flying by home lock far away from you and the home point, please DO NOT 

toggle the IOC switch many times quickly so as to avoid the change of home point without your 

attention. 

(1) Home lock flying requires that 6 or more GPS satellites are found and the aircraft is further than 

10m away from the home point. 

(2) If the IOC flying requirement is not satisfied, the autopilot system will quit IOC control mode. 

Please be aware of the LED indicator, to know the current control mode of the autopilot system. 

(1) Blinking indications of IOC 0@ are: 

a) Before motors start: 0@ blink, all sticks (except throttle stick) return to center; 

0 4lt@ blink, stick(s) (except throttle stick) not at center. 

b) After motors start and throttle stick is over 10% in 3 seconds: 0@ blink, all sticks 

return to center; 0@@ blink, stick(s} not at center. 

(2) Before you do the home lock flight. you have to fly the aircraft out of the 10m range 

around home point, and then flip the IOC switch to Home Lock position to fly in home 

lock when all the requirements are met. If you have already toggled the IOC switch to 

Home Lock position when the aircraft is still in 10m range around home point, and this is 

the first time you are going to fly in home lock during the current flight, then if all the 

requirements are met, the main controller will change into home lock automatically when 

Multi-rotor flies out the 10m range around home point. 

(3) When flying in Home Lock mode, if any of the following situations happen, then the 

l, system will quit Home Lock flying and automatically enter Course Lock flying. The aircraft 

will fly in Course Lock using the earlier forward direction. 

a) The aircraft fly's within 10m range of the home point. 

b) You toggle the control mode switch to the A TTl. Mode. 

c) The GPS signal becomes bad (The GPS signal LED is blinking Red twice or three 

times). 

(4) We suggest that you should know clearly which flight lock method you are going to fly, 

and you know the locked forward direction or home point, before you switch on IOC 

mode 

©2013 DJIInnovations. All Rights Reserved. 19 I 
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A4 Receiver Advanced Protection Function 

You are asked to enable this function by connecting to the Assistant Software, please set it at the section of 

Basic->R/C-> Receiver Advanced Protection. 

If you choose enable it, the FailSafe will be triggered if the following situations occur during flight. 

According to the difference of the aircraft height, there are two situations. 

a) Lower than lOOm, the A/E/R channel is not at the mid point 

b) Higher than lOOm, the A/E/R channel is not at the mid point or the throttle stick is above the mid point. 

In the GPS Mode or A TTl. Mode, if the requirement a) or b) is satisfied, and the output data of four channels 

A/E/R/T have not changed for 20 seconds, then the aircraft will hover automatically. After that, if the output data 

of four channels A/E/R/T still do not any changes and last for 10 seconds, the autopilot system will think that the 

data from receiver is abnormal, and then enter the FailSafe Mode. 

Brief introduction of how to quit the FailSafe Mode 

If there is any command change from the receiver, the autopilot system thinks that the receiver is regained. In A TTl. 

Mode and Manual Mode, it will quit the FailSafe Mode automatically. In GPS Mode, please toggle the control mode 

switch to the A Til. Mode and Manual Mode position to regain the control. Refer to the FailSafe section for more 

details. 

e2013 DJIInnovations. All Rights Reserved. 20 I 
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Appendix 

~~;~[~ns ~-·~--~-~"~------~·~·-··~-,~·~·~~---~~~·~~-----~~~-~~~~~-~---

l 

1 l l (1) Three Modes of Autopilot (4)S-Bus Receiver Support ! 

Built-In Functions 

Peripheral 

Supported Multi-rotor 

Supported ESC output 

Recommended Transmitter 

Assistant Software System Requirement 

Electrical & Mechanical 

Working Voltage Range 

Power Consumption 

Operating Temperature 

Weight 

Dimensions 

(2)Enhanced Fail Safe (5)PPM Receiver Support 

(3)Low Voltage Protection (6)2-axle Gimbal Support 

• Quad-rotor 14, X4; 

• Hexa-rotor 16, X6, IY6, Y6. 

• Octo- rotor 18, VB, X8 

400Hz refresh frequency. 

PCM or 2.4GHz with a minimum 4 channels. 

Windows XP SP3; Windows 7; Windows 8 

• 

• 

• 

MC: 4.8V - 5.5 V 

PMU Input: 7.4V- 26.0 V (recommend 2S- 6S LiPo) 

Output(V-SEN port red wire): 3A@5V 

Output(V-SEN port red wire)burst current:7.5A 

MAX: 3.l5W(025A@l2.6V) 

e Normal: 1.638W(O.l3A@l2.6V) 

-1o·c- 5o·c (l4F -122F) 

e MC:27g 

• 

• 

• 

• 

GPS/Compass: 27g 

PMU:28g 

LED: 13g 

MC: 45.5mm x 32.5mm x 18.5mm 

• GPS/Compass: 46mm (diameter) x lOmm 

• PMU: 39.5mm x 27.5mm x lO.Omm 

• LED : 25mm x 25mm x 7.0mm 

Flight Performance (can be effected by mechanical performance and payloads) 

Hovering Accuracy (GPS Mode) • Vertical: ± 0.8m 

Max Yaw Angular Velocity 

Max Tilt Angle 

Max Ascent / Descent Speed 

©2013 DJI Innovations. All Rights Reserved. 21 I 

• Horizontal: ±2.5m 

2oo·1s 

35° 

Ascent: 6m/s, Descent: 4.5 m/s 
J 

MC/PMU Firmware Upgrade 

Please follow the procedure for software and firmware upgrade; otherwise the system might not work properly. For 

SAFETY REASONS, DO NOT use power battery during firmware upgrade. 

1. Make sure your computer is connected to the Internet. 

2. Please close all the other applications during the firmware upgrade, including anti-virus software and 

firewall. 

3. Make sure the power supply is securely connected. DO NOT un-plug the power supply until firmware 

upgrade has finished. 

4. Connect system to PC with Micro-USB cable, DO NOT break connection until firmware upgrade is 

finished. 

5. Run Software and wait for connection. 

6. Select~ option-?Check the MC and PMU Firmware Version. 

7. DJI server will check your current firmware version, and get the latest firmware prepared for the unit. 

8. If there is a firmware version more up-to-date than your current version, you will be able to click to 

update them. 

9. Wait until Assistant software shows "finished". 

10. Click~ and power cycle the unit after at least 5 seconds. 

11. Your unit is now up-to-date. 

! 

(l) 

(2) 

After firmware upgrade, please re-configure the system using Assistant software. 

If firmware upgrade failed, the system will enter waiting for firmware upgrade status 

automatically, please try again with the above procedures. 

(3) Select~ option-?Check the GPS Firmware Version, online upgrade is disable. 

©2013 DJI Innovations. All Rights Reserved. 22 I 
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l 

LED Description ~-=-~__,~""'""""""',_........,.,.....,...,.._._a<_,.,..~~~.._,~==-~"'-~"""'~·~-=-~-~~..,__._~~-~~.-•-••-~-.,.._~......_,..,___,.,._.. _ _, . .._.,=,.,~v.=.<~~.....-...~~--~~-"'~"'~~~ 

I System Status LED Flashing l 

System start and self-check 

IMU abnormal data 

Warm up after power on 

Bias of Sensors too Big 

Compass Error too Big 

Tx signal lost 

Low Voltage Alert 

Record forward direction or home point 

Control Mode Indictor 

••o••o••o•••• 1 

••o 

0000 

•••••• 

00000000000000000000 

•••••••••••••••••••• 

•••••••••••••••••••• 

Manual Mode: None 

A TTl. Mode: 0 ( stick(s) not at center 00 ) 

GPS Mode: • ( stick(s) not at center •• ) 

IOC Mode: 0• ( stick(s) not at center 0•• ) 

GPS Signal is Best(GPS Satellite number> 6): None 

GPS Signal State Indicator GPS Signal is Weii(GPS Satellite number= 6): • 

( GPS/Compass Module is necessary ) GPS Signal is Bad (GPS Satellite number= 5): •• i GPS Signal is Worst (GPS Satellite number< 5): ••• ! 

L--------------~---------~-, ..... =-----~-~-----=_j 

Compass Calibration LED Flashing 

Begin horizontal calibration 

------- --~----------

Begin vertical calibration - ----

Calibration or others error •••••••••••••••••••• 

e2013 OJ I Innovations. All Rights Reserved. 23 I 
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Instruction of Vl (also known as NAZA-M) 

Vl (also known as NAZA-M) system is different from V2 system, if you are Vl system user, please read the following 

text carefully, and refer to the other text in this Guide for usage details (including Assistant Software Configuration, 

Basic flying, Advanced Function Appendix and FAQ, etc.). 

Vl Assembly and Connection 

Connect the Vl system according to the following chart. 

vu Do not mount it on any other electronic devices. Make sure 

can see the LED light during the flight. 

If use with DJI multi-rotor, you can solder the VU power 

power pads on frame bottom board. Please refer to DJI 

manual for details. 

• If use with 3rt~ part multi-rotor, you can make a connecter 

liilil'!l!l!l!!.l. =:a~~~~~u;s~:~ig;e!onmended. 

(Optional) GPS/COMPASS 

Gf'SoQ:mpass.JSsenslivelomagneli:~.shOUdbefdr'iN/'a'fkoolanjelectrooicdEMces_ 

You should use ~ msin Mille to assenble the GPS bracket firs! as the figure showed 1o 

p-M:xJspage 

Mourtthe bracket oothecerter~eofcraft first, then fix the GPS on the pale ofthebfaG:ket (by 

3M~~ TheGPSassmsi!ivelovl:Jr.:U:nKtedereoce,sop:ISl(mlhetrncketS:Ioosl10 

antanmjrota. 

The OJ! logo marlcedontheGPS &lould face the sky, with the ail:lriam MCM' pi~ ci-edly 

b'ward lheGPSA";CIIl'EISSis~W1hasp;!Cian:tca~oofmbriJlOlJUigtrlhehtma. 

lr you a& llriCEWtain whether maerim near lhe GPS.Canpass mocUe ae rTI3!J'l(tt a nc.i, you C3l 

useacarpassormagrD lochecl<. • lfyou ussyour ownmounling rod, make sure 1t is NOT 

-

Motors and ESCs in DJI roolfi...rotor kit are recommended. 

Please make sure you are using the ESCs and 

recommended by the manufacturer of your multi rotor first 

output is 400Hz refresh frequency. 

If you use 3'd party ESCs, please make sure the ESCs 

midpmnt is at 1520us. DO NOT use 700us travel 

as 1t may lead a1rcraft to fly away or cause inJury and 

After connect ESCs to motors, calibrate all your ESCs 

through the receiver directly before connect them to 

Make sure all of them mto Governor off, 

Please use 3M gummed paper provided To mount MC. 

MC parallel to the aircraft horizon. 

The output ports of MC (the right side in figure} should 

the front of mufti-rotor. You' d better put MC at 

center of mutti-rotor. Please make sure an ports are 

when in~Bing the MC so as to facilitate wiring and , . 

configuration. r~.,...-:. ·_,: 

After 

In three-pin 

choosing 

ports, 

a location 

pins near 

to mount 

the nicks 

the 

are 

MC, 

signal 

it is 

pins. ~ 

'~- -!. 

recommended that you DO NOT mount the MC 

until all witings and software configurations are completed. 

Vl is compatible with the PMU V2 (Accessory of Naza-M V2) 

Vl system is compatible with the PMU V2 of V2 system; please carry out the following connection. The other 

modules connection is the same as before. 

Important: You are asked to upgrade your Firmware version of Vl MC to V3.10 or above, as the PUM V2 can only 

work with the MC of version 3.10 or above. 

Take negative 

power supply 

co2013 DJI Innovations. All Rights Reserved. 24 I 
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Vl Port Description 

Please remember the function of each port, which may help you to use the Naza-M efficiently. 

Main Controller 

.... For roll control (left/right) 

..... For pitch control (front/back) 

.... For throttle control 

..... For rudder control 

..... For Control Mode Switch 

..... For gimbal pitch control Or for gain tuning 

.... ForD-Bus (S-Bus compatible) Or for gain tuning I Or for IOC switch 

--- For voltage monitor (Connect with VU V-SEN port) 

...... To#]rotor 

---- To #2 rotor 

..... To#3rotor 

.... To#4rotor 

.... To#5rotor 

~ To#6rotor 

..... To gimbal roll servo Or to #7 rotor (Upgrade the MC Firmware to V3.10 or above) 

~ To gimbal pitch servo Or to #8 rotor (Upgrade the MC Firmware to V3.10 or above) 

cLEO--, 

cEXP.--, 

LED port, for LED wire connection from Versatile Unit 

GPS port, for GPS module wire connection. 

(In three-pin ports, pins near the nicks are signal pins.) 

Versatile Unit 

V-SEN V -SEN port: To the X3 port of the main controller, for monitoring battery voltage and supplying 

power 

• Orange wire (signal wire) output: ±3.3V 

• Red wire (power wire) output: 3A@5V 

LED LED wire, to LED port of the main controller. 

~ USB port: PC connection for configuration and firmware upgrades. 

GPS & Compass 

Connect to the EXP. port. 

©2013 OJ! innovations. All Rights Reserved. 25 I 
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General 

Built-In Functions 

Peripheral 

Supported Multi-rotor 

Supported ESC output 

Recommended Transmitter 

Assistant Software System Requirement 

Electrical & Mechanical 

Working Voltage Range 

Power Consumption 

Operating Temperature 

Weight 

Dimensions 

• Three Modes of Autopilot 

• Enhanced Fail Safe 

• Low Voltage Protection 

• S-Bus Receiver Support 

• PPM Receiver Support 

• 2-axle Gimbal Support 

• Quad-rotor 14, X4; 

• Hexa-rotor 16, X6,1Y6, Y6. 

• Octo-rotor 18, V8, X8 (Upgrade the MC Firmware to 

V3.10 or above) 

400Hz refresh frequency. 

PCM or 2.4GHz with a minimum 4 channels. 

Windows XP SP3; Windows 7 

e MC: 4.8V - 5.5 V 

• 

• 

VU Input: 7 2V- 26.0 V (recommend 2S - 6S LiPo) 

Output(V-SEN port red wire): 3A@5V 

Output(V-SEN port red wire)burst current:7.5A 

MAX: 1.5W(0.3A@5V) 

e Normal: 0.6W(O.l2A@5V) 

-l0°C- 50oC(l4F -122F) 

• 

• 

MC:25g 

GPS:21.3g 

• VU:20g 

• MC: 45.5mm x 31.5mm x 18.5mm 

• GPS & Compass: 46mm (diameter) x 9mm 

• VU: 32.2mm x 2l.lmm x 7.7mm 

Flight Performance (can be effected by mechanical performance and payloads) 

Hovering Accuracy (GPS Mode) • Vertical: ± O.Bm 

Max Yaw Angular Velocity 

Max Tilt Angle 

Max Ascent/ Descent Speed 

e:>2013 DJIInnovations. All Rights Reserved. 26 I 

• Horizontal: ± 2.5m 

200°/s 

45° 

6m/s 
FAQ 

Abnormal LED Indication List 

During the Checking Procedure, if abnormal LED Indicator occurs or even the system cannot work normally, please 

refer to the following list and aids troubleshooting. 

(1) "System initializing and self-checking LED flashes" are not correct (eeoeeoe•o•••• Red LED 

appears in the last four green flashes). The autopilot system works abnormally. Please contact your 

dealer. 

(2) LED blinks Yellow 4 times quickly (0000). The system is warming up. You cannot start the motors until 

the 4 rapid yellow flashes disappear. 

(3) After the system start and self-checking has finished, if the LED blinks Red, Green and Yellow <••o) 

continually. Sensor error is too big. Please connect the assistant software, enter the "Tools" - , IMU 

calibration, carry out calibration. 

(4) At the first motors start, the system will check the sensors Bias and you are asked to keep the aircraft 

stationary (no need of horizontal level). If you cannot start the motors and the LED blinks Green 6 times 

quickly <•••••• ), it means that the sensor error is too big. Please connect the assistant software, 

enter the "Tools- > IMU calibration, carry out basic calibration. 

(5) 

Note: after the first successful motors start, this checking will be disabled and it is no need any more to 

keep the aircraft stationary during starting motors. 

The system blinks Red LED quickly during flying. Low-voltage protection is triggered. Please land the 

aircraft ASAP. 

(6) The system blinks Yellow LED quickly during flying. FailSafe Mode is triggered. Pay attention that there is 

no tall buildings and trees to block your aircraft during go-home. 

(7) The LED blinks Red and Yell ow alternately <:••C::::J). Compass error is too big. 

a) There may be a ferromagnetic substance dose to the Phantom. Lift the aircraft up about lm from 

the ground, if there is no Red and Yellow flashing, then it will not affect the flight. 

b) Otherwise, re-calibrate the compass. 

c) If re-calibration does not work, please connect to the Assistant Software, select the ''Tools" and 

follow the tips to carry out the required operation. 

Fix the TBE {Toilet Bowl Effect) Problem 

When flying in GPS A TTl. Mode and the compass calibration has been done correctly, should you find the aircraft 

rotating (Toilet bowl effect), or drifting when hovering. Please check the GPS module mounting orientation and then 

re-do the compass calibration. Carry out the following procedure to re-mount the GPS module. 

In the following diagram (view from the top), the aircraft can appear to be rotating in both clockwise and 

©2013 DJI Innovations. All Rights Reserved. 27 I 
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counter-clockwise direction, please re-mount the GPS module correspondingly . 

. ..- - ';*. is the rotating direction of aircraft, --+ is the nose direction of aircraft, 

--... is the arrow direction on the GPS module, 9 is the offset angle for GPS re-mounting(about lG-30°) 

r-~~:~~o:t:;-~---~PS re-moun~~;;-~~:;;e~~:~;;:-GPS ::::;;;;;-·l ~--•••••w•••••••••••••••••••••••--i.•-•••••••••••••••••••••••••••••••••••! I 

I ~tat i ! te;t l 

: 'fA . I A'J' 

L- ~--- --~ _!.__ - ---~_L_~. __ :

1 

__ --_L __ ------~-~ 

Should you find the multi-rotor does not track straight in forward flight 

Please carry out several more courses, the system will fix it automatically. 

Motors Start failure caused by TX stick(s) mid point error too big 

If the TX stick(s) mid point error is too big, Motors Start will fail when you execute the Combination Stick 

Commands (CSC) and lead to the aircraft will not takeoff.. And the LED will blink Red four times per second 

continually to warn you. 

TX stick(s) mid point error too big can be caused by the following reasons: 

(1) There is TX stick (except the throttle stick) not at center when power on the autopilot system. 

(2) The TX sticks has been trimmed, which leads to the large deviation of mid point. For example, the 

SUB-TRIM has been adjusted for Futaba transmitter. 

(3) The TX stick(s) travel has larger asymmetry. 

For the reason (1), please put all TX sticks at the mid point, and then power cycle the autopilot system to 

re-record the mid point. If the problem continues, that can be caused by the reason (2) or reason {3), yo 

u need to adjust the output range of your TX, and then use the Assistant Software to redo the TX cali 

bration. Please carry out the following procedures. 

(1) Connect to the Assistant software, click Basic-> R/C-> Command Sticks Calibration, and push all TX 

sticks throughout their complete travel range to see if any stick cannot reach its largest position. 

{2) Adjust the largest travel of TX stick until the cursor on the Assistant software can reach both end 

positions, according to your TX manual. 

(3) Power cycle the autopilot system, note that power cycle is required. 

(4) Redo the TX calibration according to the Assistant software. 

©2013 DJI Innovations. All Rights Reserved. 28 I 
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Hex Copter Flight 

Checklist 

For DJI Ground Station 

Setup: 

Ground Station: 

1. Laptop - Power Up 

2. Datalink USB Radio - Connect to PC 

3. Hand Controller (if Desired) - Connect to PC 

4. Video Monitor -Install on tripod and attach Video 

Receiver and Antenna (as appropriate) 

5. Video Capture Device {lf Used)- Connect to PC 

6. Video Receiver - Connect Output to Video Capture 

Device and Monitor (use splitter as required) 

7. Ground Station Application - Start 

8. Com Port - Select (Do Not Connect) 

Aircraft: 

1. Preflight Inspection: 

a. Propeller Blades - Secure, No Damage 

b. Motors- Secure 

c. Landing Gear Mounts - Locked 

d. Electronics- Secure 

e. Wiring - Secure, No Chaffing 

f. GPS Antenna - Secure, Arrow Pointed 

Forward of Aircraft 

g. Cameras- Secure, Connected to Aircraft 

h. Camera Mount- Secure, Wiring Clear of 

Mechanism 

i. Landing Gear- Secure, No Loose Hardware, 

Skid Tubes Centered 

2. Batteries: 

a. Video (as required) - Mounted on Camera 

Gimbal 

b. Main- Secured to Battery Tray, Tray Attached 

to Landing Gear Assy at 3 points. 

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3. RIC Radio: 

a. Throttle Stick - Low 

b. Power On 

c. Correct Aircraft Memory Selected 

d. Flight Mode Switch- Attitude (Center Pos) 

e. Control Rate Switch (if equipped)- High 

f. Throttle - Keep Low 

4. Video Transmitter- Connect 

5. Electronics - Connect 

Mission Planning: 

1. Connect Button -Press to Connect Datalink 

2. If Using Simulator: 

a. Position Mouse Cursor over point on map as 

desired aircraft home point. 

b. CTRL + RIGHT Click 

c. Simulation - Check Box 

d. Warning Box- Acknowledge and click OK 

3. Joystick (Optional): 

a. Choose Joystick 

b. Calibration - Perform following prompts 

c. Channel Mapping: 

i. Ch 1 -YAW, Normal 

ii. CH 2- Collective Pitch, Reversed 

iii. CH 3- Roll, Normal 

iv. CH 4- Elevator, Reversed 

v. Set-OK 

4. Sys_Set: 

a. Set Offset As: As Required (set to home point 

ground e1evation indicated by Google Maps) 

b. Height Mode - Selected 

c. Set-OK 

5. Map -Center on Location (Press AIRCRAFT button) 

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6. Editor- Click button to open: 

a. Select - New or Open, if New: 

b. Place Waypoints- CNTRL-Left Click on Map 

c. Editing Waypoints - Highlight 

d. Mission Properties: 

i. Mission Time Limit - Set in Seconds 

(600-900 Seconds Typical) 

ii. Route Type- Continuous 

iii. Start Waypolnt - Set WIP # 

iv. Vertical Speed Limit- Set (1.5 m/sec 

default) 

e. Set All WP Parameter: 

1. Set All WP Alt - As Required in Meters 

ii. Set All AP Speed - As Required in 

M/Sec 

iii. Set All WP Turn Mode- Set As 

Required 

f. Save - Name as Desired 

g. Upload- Check All WP Parameters- Click OK 

Aircraft Launch: 

1. Video Capture - Start (T erraScope or DVR) 

2. RIC Radio - Set to GPS, Throttle Mid-Stick 

3. Immediate Preflight Checks: 

a. Data Link Signal Strength - Green, 4 bars 

b. GPS-GOOD 

c. A TTl - GOOD 

d. Mode- GPS ATTJ 

e. Motor Voltage - 24.9 V minimum 

4. Editor- Press GO (if red) 

5. Aircraft- Observe Take Off 

6. Set Home Waypoint- SeWerify Altitude and Position 

7. Set Home Waypoint- Click 

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In Flight: 

1. Route - Monitor ground track and aircraft heading 

2. RIC Radio -Turn Off, as desired 

a. Verify Mode - WAYPOINT 

3. Instrument Board- Click on and position as desired: 

4. TO STOP: 

a. Pause Button - Click, select Joystick or 

Keyboard Mode 

5. TO RESUME MISSION 

a. Continue Button - Click 

6. Change Flight Plan: 

a. In Editor Window- EDlT- Click 

b. Change Mission Parameters as needed 

c. Upload - Click 

d. Mission Waypoints -Verify, click OK to upload 

e. Editor Window- Click GO 

f. Monitor Aircraft change in direction 

Recovery: 

1. Go Home - Click 

2. Go Home Window- Click GO TO HOME 

3. Monitor Aircraft Return, Once Stabilized over Home 

WP at Home Altitude: 

4. Pause Button - Click, select Keyboard Control Mode 

5. Editor Window- Click Autolanding 

6. Monitor Landing 

a. ABORT- Press UP Arrow Button 

7. Once on Ground - Battery, Disconnect 

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Alternate Recovery (RIC Mode): 

1. Go Home - Click 

2. Go Home Window- Click GO TO HOME 

3. Monitor Aircraft Return 

4. When Aircraft within Visual Range for Orientation 

Recognition: 

a. RC Radio - Switches Set, Throttle Low 

b. RC Radio - ON 

c. RC Radio - Throttle Mid-Range 

5. RC Radio Flight Mode - Cycle from GPS to Attitude 

or Manual, then to desired mode for landing. 

6. Execute RC Landing as required 

7. Once on Ground- Battery Power, Disconnect 

Page 5 of9 
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Emergency Procedures: 

Loss of Communications, Data Link: 

USB Connection - Check 

USB Connection - Unplug and Re-plug to reset 

COM PORT- Select 

CONNECT- Click 

Editor Window- Download Button, press 

Cannot Re-Establish Link: 

a. Monitor Aircraft Video Downlink for Range/Bearing 

info, record. 

b. R/C Radio - Cycle Flight Mode to transfer from 

Waypoint Mode 

c. Recover Aircraft via RIC Mode 

Loss of Communications, RIC Mode: 

1. R/C Radio Antenna - CHECK LOS to Aircraft 

2. R/C Radio- POWER OFF, then ON 

3. Verify RIC Radio Battery Voltage 

4. Flight Mode Switch - CYCLE 

5. If no link established to aircraft: 

a. Clear Landing Area 

b. Inform nearby persons of imminent Automatic 

Landing of Aircraft 

c. Monitor Aircraft Return to Home and Landing 

Low Battery,< 21.3 Volts: 

1. R/C Control Mode - Land ASAP 

2. In Waypoint Flight Mode - Continue Below: 

3. Go Home- Click 

4. Go Home Window- Click GO TO HOME 

5. When Aircraft within Visual Range for Orientation 

Recognition: 

a. RC Radio- Switches Set, Throttle Low 

b. RC Radio - ON 

c. RC Radio -Throttle Mid-Range 

6. RC Radio Flight Mode- Cycle from GPS to Attitude or 

Manual, then to desired mode for landing. 

7. Execute RC Landing ASAP 

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Critical Low Battery, < 20.8 Volts: 

1. RIC Control Mode - Land ASAP, if Down Range: 

a. Use Video to Select Suitable Safe Landing Area 

b. Flight Mode - GPS 

c. Video Payload - Point Down to view ground 

d. Maneuver to Clear Landing Spot 

e. Command Descent to ground (-2.0 M/Sec) 

f. Ground Contact- Throttle Low, Mode Attitude 

g. Aircraft Location - Record 

2. Waypoint Flight Mode - Continue Below: 

a. Mission- PAUSE, Keyboard Control Mode 

b. Video Payload - Point Down to view ground 

c. Altitude - Command Descent (Down Arrow Key) 

d. Maneuver to Clear Landing Spot 

e. When within 20 Meters of Ground - AUTOLAND -

Press 

f. Monitor Landing via Video, if LOS permits 

g. Aircraft Location - Record 

Loss of GPS: 

1. 

2. 

3. 

4. 

5. 

6. 

RIC Control Mode - Recover in Attitude Mode 

In Waypoint Flight Mode - Continue Below: 

Mission- PAUSE, Keyboard Mode 

RIC Radio - Power On, Select Attitude Mode 

Recover Aircraft in RIC Control Mode 

If beyond range of RIC Radio, Aircraft will auto-descend to 

ground in level attitude 

Aircraft Fly-Away: 

1. RIC Control Mode - Recover in Attitude or Manual Mode 

2. No Response- Command Motor Shutdown (Split Sticks) 

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Compass Calibration: 

Perform this procedure when operating in new 

location more than 60 miles apart or after 

GPS/Compass module has been reinstalled/mounted. 

Caution: 

(1) DO NOT calibrate compass where there is strong 

magnetic interference, such as magnetite, near parked 

vehicles, and steel reinforcement under the ground. 

(2) DO NOT carry ferromagnetic materials with you 

during calibration, such as keys or cell phones. 

(3) Compass Calibration is very important; otherwise the 

flight control system cannot work. 

Setup: 

1. RIC Radio - Switches Set, Throttle Low, Mode 

Attitude 

2. RIC Radio- Power ON 

3. Aircraft- Batteries installed, CONNECT 

4. Aircraft- Verify Flight Mode Attitude (LED) 

5. Aircraft- held level off ground (Use Assistant) 

6. R/C Radio- GPS Mode 

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Procedure: 

1. RIC Radio- Cycle Flight Mode 10 times ending in 

GPS mode 

2. LED - BLUE, Rotate Aircraft Horizontally 360° at goo I 

3 Sec: 

3. 

360° Rotate the aircraft 

horizontally 

I 

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c .. -5- . I ---c:"'"c \r- ])(: ,_ 

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LED- GREEN, Flip aircraft nose DOWN, and rotate 

vertically 360° at goo I 3 Sec: 

360°Rotate the aircraft 

vertically (Nose downward) 

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4. LED- GPS Mode Indication: Calibration Successful 

5. LED- RED: Calibration Failed, recalibrate (Step 1) 

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